A robust adaptive robot controller

Author

Berghuis, Harry ; Ortega, Romeo ; Nijmeijer, Henk

Author_Institution

Dept. of Electr. Eng., Twente Univ., Enschede, Netherlands

Volume

9

Issue

6

fYear

1993

fDate

12/1/1993 12:00:00 AM

Firstpage

825

Lastpage

830

Abstract

A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter design a relationship between compensator gains and closed-loop convergence rates that is independent of the robot task. A simulation example of a two-DOF manipulator featuring some aspects of the control scheme is given

Keywords

adaptive control; closed loop systems; control system synthesis; position control; robots; stability; 2-DOF manipulator; adaptive robot controller; closed loop convergence rates; compensator gains; globally convergent adaptive control; motion control; noisy velocity measurements; robustness; Adaptive control; Convergence; Motion control; Noise level; Noise robustness; Programmable control; Robot control; Robot motion; Robust control; Velocity measurement;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.265925

Filename

265925