Experiments in nonlinear adaptive control

Author

Burdet, E. ; Sprenger, B. ; Codourey, A.

Author_Institution

Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

537

Abstract

In this paper, 2 control algorithms for learning and compensating for the dynamics of manipulators during the motion are presented and tested experimentally. It is shown that the adaptive feedforward controller (AFFC) is well suitable for learning the parameters of the dynamic equation, even, in presence of friction and noise. The resulting control performances are better than with measured parameters for any trajectory in the workspace. When the task consists of driving a repeated trajectory, an adaptive look-up-table MEMory, introduced and analyzed in this paper, is however simpler to implement and results in even better control performances

Keywords

adaptive control; feedforward; learning systems; manipulator dynamics; nonlinear control systems; table lookup; AFFC; MEMory; adaptive feedforward controller; adaptive look-up-table; compensation; dynamic equation; friction; manipulator dynamics; noise; nonlinear adaptive control; parameter learning control; repeated trajectory; Adaptive control; Equations; Error correction; Friction; Lighting control; Manipulator dynamics; Motion control; Programmable control; Robots; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620092

Filename

620092