Comparative experiments with a new adaptive controller for robot arms

Author

Whitcomb, Louis L. ; Rizzi, Alfred A. ; Koditschek, Daniel E.

Author_Institution

Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA

Volume

9

Issue

1

fYear

1993

fDate

2/1/1993 12:00:00 AM

Firstpage

59

Lastpage

70

Abstract

A model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics are presented. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms: (1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control; (2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts; (3) reconcile several previous contrasting empirical studies; and (4) examine contexts that compromise their advantage

Keywords

adaptive control; manipulators; model reference adaptive control systems; stability; MRAC; adaptive controller; adaptive model-based algorithms; dynamics; global asymptotic stability; rigid-body model; robot arms; tracking performance; Adaptive control; Context modeling; Defense industry; Manipulators; PD control; Physics; Programmable control; Robot control; Robotics and automation; Service robots;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.210795

Filename

210795