Title :
Adaptive control of manipulators with supervision of the sampling rate and free-parameters of the adaptation algorithm
Author :
de la Sen, M. ; Almansa, A.
Author_Institution :
Inst. de Investigacion y Desarrollo de Procesos, Pais Vasco Univ., Bilbao, Spain
Abstract :
An adaptive neural control scheme for mechanical manipulators is proposed. A supervisor is used to improve the system performances during the adaptation transients. The supervisor exerts two supervisory actions. The first one consists basically in updating the free-design adaptive controller, the quadratic loss function is maintained sufficiently small. The second supervisory action consists basically of an online adjustment of the sampling period within an interval centered in a nominal value of the sampling period. The sampling period is selected so that the transient of the tracking error is improved
Keywords :
adaptive control; control system synthesis; manipulators; neurocontrollers; position control; sampled data systems; adaptation algorithm; adaptation transients; free-parameters; mechanical manipulators; online adjustment; quadratic loss function; sampling rate; supervisor; tracking error transient; Adaptive control; Adaptive systems; Differential equations; Manipulator dynamics; Neural networks; Nonlinear equations; Programmable control; Robots; Sampling methods; Servomechanisms;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786451
