A robust adaptive controller for robot manipulators

Harry Berghuis; Romeo Ortega; Henk Nijmeijer

doi:10.1109/ROBOT.1992.219955

A robust adaptive controller for robot manipulators

Harry Berghuis
, Romeo Ortega
, Henk Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

11 Citations (Scopus)

242 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 language	English
Title of host publication	Proceedings IEEE Conference on Robotics and Automation 1992
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	1886-1891
Number of pages	0
ISBN (Print)	9780818627200
DOIs	https://doi.org/10.1109/ROBOT.1992.219955
Publication status	Published - 12 May 1992
Event	1992 IEEE International Conference on Robotics and Automation, ICRA 1992 - Nice, France Duration: 12 May 1992 → 14 May 1992

Conference

Conference	1992 IEEE International Conference on Robotics and Automation, ICRA 1992
Abbreviated title	ICRA
Country/Territory	France
City	Nice
Period	12/05/92 → 14/05/92

Access to Document

10.1109/ROBOT.1992.219955

ArticleFinal published version, 444 KB

11 Citations
1 Report

A robust adaptive controller for robot manipulators
Berghuis, H., Ortega, R. & Nijmeijer, H., 1991, Enschede: University of Twente. 10 p. (Memorandum; no. 992)
Research output: Book/Report › Report › Professional

Cite this

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title = "A robust adaptive controller for robot manipulators",

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.",

author = "Harry Berghuis and Romeo Ortega and Henk Nijmeijer",

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day = "12",

doi = "10.1109/ROBOT.1992.219955",

language = "English",

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pages = "1886--1891",

booktitle = "Proceedings IEEE Conference on Robotics and Automation 1992",

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note = "1992 IEEE International Conference on Robotics and Automation, ICRA 1992, ICRA ; Conference date: 12-05-1992 Through 14-05-1992",

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T1 - A robust adaptive controller for robot manipulators

AU - Berghuis, Harry

AU - Ortega, Romeo

AU - Nijmeijer, Henk

PY - 1992/5/12

Y1 - 1992/5/12

N2 - 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.

AB - 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.

U2 - 10.1109/ROBOT.1992.219955

DO - 10.1109/ROBOT.1992.219955

M3 - Conference contribution

SN - 9780818627200

SP - 1886

EP - 1891

BT - Proceedings IEEE Conference on Robotics and Automation 1992

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 1992 IEEE International Conference on Robotics and Automation, ICRA 1992

Y2 - 12 May 1992 through 14 May 1992

ER -

A robust adaptive controller for robot manipulators

Abstract

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Research output

A robust adaptive controller for robot manipulators

Cite this