Title :
On modeling and adaptation in robot control
Author_Institution :
Massachusetts Institute of Technology, Cambridge, MA
Abstract :
Performance enhancement through modeling of high-frequency dynamics (such as structural resonant modes or actuator time-delays) and on-line parameter estimation (of large loads with unknown mass properties, or of characteristics of the environment in compliant motion control) is discussed in the context of sliding control. It is shown that such additions can be easily incorporated in existing controllers and yield predictable performance improvements.
Keywords :
Actuators; Adaptation model; Control systems; Parameter estimation; Resonance; Robot control; Sliding mode control; Uncertainty; Vehicle dynamics; Weight control;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087497
