Title :
Hybrid adaptive control for robot manipulators
Author_Institution :
Dept. of Electr. & Comput. Eng., Newcastle Univ., NSW, Australia
Abstract :
An adaptive control scheme is proposed for rigid-link robots where the control signal computations are performed continuously and the control coefficient computations are performed discretely. A global boundedness result is established for the resulting hybrid scheme, independent of the sampling rate. It is also shown that the position, velocity and acceleration tracking errors are of the order of the sampling period. This study brings the analysis of adaptive robot control closer to practice, where a discrete control law implementation is invariably used
Keywords :
adaptive control; robots; acceleration tracking errors; global boundedness; position tracking; rigid-link robots; robot manipulators; velocity tracking; Acceleration; Adaptive control; Equations; Gravity; Linear matrix inequalities; Manipulator dynamics; Parameter estimation; Recursive estimation; Robots; Sampling methods;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194596
