• DocumentCode
    697032
  • Title

    Improving transient performance by adaptive control of robots

  • Author

    Arteaga, M.A. ; Tang, Y.

  • Author_Institution
    DEPFI, Secc. de Electr., Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
  • fYear
    2001
  • fDate
    4-7 Sept. 2001
  • Firstpage
    202
  • Lastpage
    207
  • Abstract
    By using robust control techniques, this paper proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent PE (Persistent Excitation) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results.
  • Keywords
    adaptive control; parameter estimation; robots; robust control; trajectory control; adaptive control; parameter estimation error; parameter-dependent PE condition; persistent excitation; residual origin set; rigid robots; robust control techniques; smooth desired trajectory tracking; transient performance; Adaptation models; Adaptive control; Equations; Robots; Trajectory; Vectors; Lyapunov design; Robot adaptive control; estimation; robust control; trajectory tracking in non-linear systems;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2001 European
  • Conference_Location
    Porto
  • Print_ISBN
    978-3-9524173-6-2
  • Type

    conf

  • Filename
    7075906
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=697032