Passivity based adaptive control for mechanical manipulators using LS-type estimation

Author

Leal, Rogelio Lozano ; DeWit, C.C.

Author_Institution

Dept. de Genie Inf., Univ. de Technol. des Compiegne, France

Volume

35

Issue

12

fYear

1990

fDate

12/1/1990 12:00:00 AM

Firstpage

1363

Lastpage

1365

Abstract

A novel adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient-type algorithm, as is currently the case in this sort of synthesis approach, a least-square-type estimation algorithm is proposed. The modified least squares (LS) algorithm is proved to be passive. The modification vanishes with time, and therefore the proposed parameter estimate converges to the LS estimate. The passivity properties of the mechanical manipulator and those of the proposed estimation algorithm are combined to conclude the stability of the control scheme

Keywords

adaptive control; convergence of numerical methods; least squares approximations; parameter estimation; robots; adaptive controller; convergence; least-square-type estimation; mechanical manipulators; parameter estimation; passivity; stability; Acceleration; Adaptive control; Algorithm design and analysis; Convergence; Equations; Least squares approximation; Manipulators; Parameter estimation; Programmable control; Robots;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.61017

Filename

61017