A robust adaptive robot controller
نویسندگان
چکیده
A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter design a relationship between compensator gains and closed-loop convergence rates that is independent of the robot task. A simulation example of a two-DOF manipulator features some aspects of the control scheme.
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 9 شماره
صفحات -
تاریخ انتشار 1993