DocumentCode
2528863
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
fYear
1990
fDate
13-18 May 1990
Firstpage
2095
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126314
Filename
126314
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