Title :
State of the art in adaptive control of robotic systems
Author :
Tosunoglu, Sabri ; Tesar, Delbert
Author_Institution :
Dept. of Mech. Eng., Texas Univ., Austin, TX, USA
fDate :
9/1/1988 12:00:00 AM
Abstract :
An up-to-date assessment of adaptive control technology as applied to robotics is presented. Although the field is relatively new and does not yet represent a mature discipline, considerable attention for the design of sophisticated robot controllers has occurred. In this presentation, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review
Keywords :
controllers; model reference adaptive control systems; robots; adaptive control; model reference adaptive systems; robot controllers; self-tuning regulators; Adaptive control; Adaptive systems; Control systems; Least squares approximation; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Parameter estimation; Programmable control; Robot control;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
