Adaptive disturbance attenuation for elastic joint robots

The disturbance attenuation problem with global internal stability is solved for elastic joint robots in the general case of unknown constant parameters. By using 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/sub /spl infin// ones.