Title :
Adaptive control of robots with an improved transient performance
Author :
Arteaga, Marco A. ; Tang, Yu
Author_Institution :
DEPFI, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
fDate :
7/1/2002 12:00:00 AM
Abstract :
By using a robust control technique, this note proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent persistent excitation (PE) 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; tracking; PE condition; adaptive control; improved transient performance; parameter estimation error; parameter-dependent persistent excitation condition; robots; robust control; Adaptive control; Automatic control; Control systems; Error correction; Linear systems; Parameter estimation; Robot control; Robustness; Stability; Trajectory;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.800672
