Title :
Adaptive gain adjustment for a learning control method for robotics
Author :
Moore, Kevin L. ; Dahleh, Mohammed ; Bhattacharyya, S.P.
Author_Institution :
Coll. of Eng., Idaho State Univ., Pocatello, ID, USA
Abstract :
P. Bondi et al. (IEEE Journal of Robotics and Autom., vol.4, p.14-22, Feb. 1988) proposed a high-gain feedback method for learning control and showed that there exist gains which ensure trajectory convergence to a desired response. An adaptive gain-adjustment technique is suggested that enables the system to choose adaptively the gains which yield convergence. The technique is illustrated with the results of a simulation
Keywords :
adaptive control; feedback; learning systems; robots; adaptive gain-adjustment; high-gain feedback method; learning control; robotics; trajectory convergence; Adaptive control; Control systems; Convergence; Linear feedback control systems; Manipulators; Orbital robotics; Output feedback; Programmable control; Robot control; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126314
