Kazuhiro Tsuruta

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This paper considers an adaptive H<sup>infin</sup> control method with link frictions compensation and external disturbances rejection for robotic systems. It is assumed that all the system parameters for friction model and robot are unknown. The proposed method ensures that the unknown parameters are estimated and approximation errors of friction model and(More)
This paper examines the problem of link position tracking control for robot manipulators with input toque uncertainty. It is assumed that the input torque uncertainty can be regarded as dead-zone phenomena at each link of manipulator and all the system parameters for robotic manipulator and dead-zone model are unknown. The proposed method ensures that the(More)
This paper examines the problem of link position tracking control for robot manipulators with input toque uncertainty. It is assumed that the input torque uncertainty can be regarded as dead-zone effects at each link of manipulator and all the system parameters for dead-zone model and robot are unknown. The proposed method ensures that the unknown(More)
Abstract: In this paper, the non-linear behavior of friction is modeled with a dynamic system. The non-linear behavior model being proposed here can be used for modeling Coulomb friction, viscous friction, Stribeck effect and can also be used to study the non-linear behavior of elastic deformation. The frictional force does not cause disturbance in the(More)
In this paper an adaptive tracking control of a servo mechanism with friction is developed, based on the notion of H<sup>infin</sup> optimality. It is assumed that the friction dynamics can be described by the LuGre model. The nonlinear characteristic function of the LuGre model is parameterized by a neural-network (NN). In general, friction parameters and(More)
An adaptive H∞ control for positioning mechanism with input nonlinearity is proposed in this paper. It is assumed that the input nonlinearity can be described as unknown parameters term and bounded disturbance term, an adaptive H∞ control method is given. Proposed control strategy does not include a discontinuous function, therefore, it can avoid to cause(More)
Microdevices designed for practical environmental pollution monitoring need to detect specific pollutants such as dioxins. Bisphenol A (BPA) has been widely used as a monomer for the synthesis of polycarbonate and epoxy resins. However, the recent discovery of its high potential ability to disrupt human endocrine systems has made the development of smart(More)
This paper presents new vibration suppression control method for multiaxis table drive system. In multiaxis table drive system, the synchronization error disturbs high precision and a fast response time to cause serious vibration. It is caused by a motion error due to a characteristics change of a table slide system. In the case of synchronization error(More)
This paper proposes an adaptive control method for robotic manipulators with input toque uncertainties. For each link of manipulators, it is assumed that the input torque uncertainties can be divided into unknown parameters term and bounded disturbance term. In addition, all the parameters for input torque uncertainties and robot are unknown. The proposed(More)