Title :
Improving transient performance by adaptive control of robots
Author :
Arteaga, M.A. ; Tang, Y.
Author_Institution :
DEPFI, Secc. de Electr., Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
Abstract :
By using robust control techniques, this paper proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent PE (Persistent Excitation) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results.
Keywords :
adaptive control; parameter estimation; robots; robust control; trajectory control; adaptive control; parameter estimation error; parameter-dependent PE condition; persistent excitation; residual origin set; rigid robots; robust control techniques; smooth desired trajectory tracking; transient performance; Adaptation models; Adaptive control; Equations; Robots; Trajectory; Vectors; Lyapunov design; Robot adaptive control; estimation; robust control; trajectory tracking in non-linear systems;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
