A robust adaptive controller for robot manipulators

Harry Berghuis, Romeo Ortega, Henk Nijmeijer

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    6 Citations (Scopus)
    69 Downloads (Pure)

    Abstract

    The authors propose a globally convergent adaptive control scheme for robot motion control with the following features: first, the adaptation law processes enhanced robustness with respect to noisy velocity measurements; secondly, the controller does not require the inclusion of high-gain loops that may excite the unmodeled dynamics and amplify the noise level; thirdly the authors derive for the known parameter design a relationship between compensator gains and closed-loop convergence rates which is independent of the robot task. This helps the designer to carry out the gain tuning with an analysis of the robustness-performance tradeoff.
    Original languageEnglish
    Title of host publicationProceedings IEEE Conference on Robotics and Automation 1992
    Place of PublicationPiscataway, NJ, USA
    PublisherIEEE
    Pages1886-1891
    Number of pages0
    ISBN (Print)9780818627200
    DOIs
    Publication statusPublished - 12 May 1992
    Event1992 IEEE International Conference on Robotics and Automation, ICRA 1992 - Nice, France
    Duration: 12 May 199214 May 1992

    Publication series

    Name
    PublisherIEEE

    Conference

    Conference1992 IEEE International Conference on Robotics and Automation, ICRA 1992
    Abbreviated titleICRA
    CountryFrance
    CityNice
    Period12/05/9214/05/92

    Keywords

    • IR-96346
    • METIS-141537

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