An indirect adaptive robot controller
β Scribed by Weiping Li; Jean-Jacques E. Slotine
- Publisher
- Elsevier Science
- Year
- 1989
- Tongue
- English
- Weight
- 621 KB
- Volume
- 12
- Category
- Article
- ISSN
- 0167-6911
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
Partial knowledge of the unknown plant parameters, suitably incorporated in the adaptive law, permits globally stable, indirect adaptive control of minimum and nonminimum phase plants.
Industrial robots manipulating various payloads represent non-linear and time-varying systems which should be controlled by robust adaptive controllers with self-adjustable parameters, suitable for microcomputer implementation.
In this brief note, we show how indirect continuous time adaptive control may be presented in a simple manner using operator notation. We show how a stability result for slowly time varying linear systems may be used to give a general proof for a broad class of indirect adaptive control algorithms.