Variable parameter robust gradient estimation algorithm with dead zone for the trajectory tracking of the joints of the manipulator

Author

Xue, Yuncan ; Mei, Zhiqian ; Jiang, Jinlong ; Yang, Qiwen

Author_Institution

Coll. of Comput. & Inf. Eng., Hohai Univ., Jiangsu, China

Volume

1

fYear

2003

fDate

10-12 Dec. 2003

Firstpage

152

Abstract

A variable parameter robust gradient estimation algorithm with dead zone is presented in this paper. The concept of the error level is proposed. Selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experiments carried out on the robot. With it, a self-tuning PID controller is used for the trajectory tracking of the joints of the manipulator. Good tracking performance shows the effectiveness of the improved robust gradient estimation algorithm.

Keywords

adaptive control; manipulators; minimax techniques; parameter estimation; position control; robust control; self-adjusting systems; three-term control; dead zone; manipulator; minmax principle; robot experiments; self-tuning PID controller; trajectory tracking; variable parameter robust gradient estimation algorithm; Computer errors; Educational institutions; Motion control; Noise robustness; Parameter estimation; Resonance light scattering; Robots; Three-term control; Time varying systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2003 IEEE International Conference on

Print_ISBN

0-7803-7852-0

Type

conf

DOI

10.1109/ICIT.2003.1290259

Filename

1290259