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Proceedings of 1995 34th IEEE Conference on Decision and Control
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Adaptive disturbance attenuation for elastic joint robots
Proceedings article published in 1970 by
Stefano Battilotti,
Leonardo Lanari 
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Abstract
The disturbance attenuation problem with global internal stability is solved for elastic joint robots in the general case of unknown constant parameters. By using recent results on the adaptive control of elastic joint robots, one can solve the problem of disturbance attenuation directly on the perturbed system by exploiting the property of linearity in the parameters. This paper therefore combines adaptive control techniques with H∞ ones.