DocumentCode
2533232
Title
On modeling and adaptation in robot control
Author
Slotine, J. J E
Author_Institution
Massachusetts Institute of Technology, Cambridge, MA
Volume
3
fYear
1986
fDate
31503
Firstpage
1387
Lastpage
1392
Abstract
Performance enhancement through modeling of high-frequency dynamics (such as structural resonant modes or actuator time-delays) and on-line parameter estimation (of large loads with unknown mass properties, or of characteristics of the environment in compliant motion control) is discussed in the context of sliding control. It is shown that such additions can be easily incorporated in existing controllers and yield predictable performance improvements.
Keywords
Actuators; Adaptation model; Control systems; Parameter estimation; Resonance; Robot control; Sliding mode control; Uncertainty; Vehicle dynamics; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087497
Filename
1087497
Link To Document