DocumentCode
778979
Title
Adaptive control of robots with an improved transient performance
Author
Arteaga, Marco A. ; Tang, Yu
Author_Institution
DEPFI, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Volume
47
Issue
7
fYear
2002
fDate
7/1/2002 12:00:00 AM
Firstpage
1198
Lastpage
1202
Abstract
By using a robust control technique, this note proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent persistent excitation (PE) 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; tracking; PE condition; adaptive control; improved transient performance; parameter estimation error; parameter-dependent persistent excitation condition; robots; robust control; Adaptive control; Automatic control; Control systems; Error correction; Linear systems; Parameter estimation; Robot control; Robustness; Stability; Trajectory;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2002.800672
Filename
1017571
Link To Document