A robust adaptive robot controller

Harry Berghuis, Harry Berghuis, Romeo Ortega, Henk Nijmeijer

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    57 Citations (Scopus)
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    A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter design a relationship between compensator gains and closed-loop convergence rates that is independent of the robot task. A simulation example of a two-DOF manipulator featuring some aspects of the control scheme is given
    Original languageEnglish
    Pages (from-to)825-830
    JournalIEEE transactions on robotics and automation
    Issue number6
    Publication statusPublished - 1993


    • IR-15044
    • METIS-111942

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