A robust adaptive robot controller

Harry Berghuis; Romeo Ortega; Henk Nijmeijer

doi:10.1109/70.265925

A robust adaptive robot controller

Harry Berghuis, Romeo Ortega, Henk Nijmeijer

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Abstract

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 language	English
Pages (from-to)	825-830
Journal	IEEE transactions on robotics and automation
Volume	9
Issue number	6
DOIs	https://doi.org/10.1109/70.265925
Publication status	Published - 1993

Keywords

IR-15044
METIS-111942

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robust_adaptive_-_berghuis

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title = "A robust adaptive robot controller",

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AB - 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

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U2 - 10.1109/70.265925

DO - 10.1109/70.265925

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JO - IEEE transactions on robotics and automation

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A robust adaptive robot controller

Abstract

Keywords

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