Adaptive 'PD+' control of rigid robot manipulators

H. Berghuis, P. Löhnberg, H. Nijmeijer

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


    Two adaptive trajectory tracking controllers for rigid robot manipulators are presented. These controllers are characterized by three parts, a linear PD part, a nonlinear PD part, and a nonlinear model based part. Asymptotic trajectory tracking can be guaranteed for the closed loop system under quite general conditions on the linear controller gains. Both controllers have the property that they reduce to gravitation compensation and PD control in the particular case of position control. An interesting consequence of this property is that the presented controllers are robust to noise on the velocity measurements, which usually causes parameter drift. This feature of the controllers is demonstrated in a simulation study of a two DOF robot system, in which it is also shown that a well-known adaptive tracking controller from literature suffers from this parameter drift.
    Original languageEnglish
    Title of host publicationRobot Control 1991
    Subtitle of host publicationSelected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16–18 September 1991
    PublisherInternational Federation of Automatic Control (IFAC)
    Number of pages6
    ISBN (Print)978-0-08-041276-4
    Publication statusPublished - 16 Sep 1991
    Event3rd IFAC Symposium on Robot Control, SYROCO 1991 - Vienna, Austria
    Duration: 16 Sep 199118 Sep 1991
    Conference number: 3

    Publication series

    NameIFAC Symposia Series


    Conference3rd IFAC Symposium on Robot Control, SYROCO 1991
    Abbreviated titleSYROCO


    • n/a OA procedure


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