A modified model reference adaptive control scheme for rigid robots

Aniruddha Datta; Ming Tzu Ho

doi:10.1109/70.499827

A modified model reference adaptive control scheme for rigid robots

Aniruddha Datta, Ming Tzu Ho

Department of Engineering Science

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

This paper seeks to improve the zero-state performance of a standard model reference adaptive control scheme for rigid robots by augmenting the usual model reference control law with an auxiliary component synthesized from the tracking error. A condition involving a certain design parameter is given which can be used to decide a priori whether the modified scheme can potentially outperform its unmodified counterpart. If the joint accelerations are available for measurement, then it is shown that this condition can always be satisfied and the zero-state performance of the modified scheme can in fact be arbitrarily improved.

Original language	English
Pages (from-to)	466-470
Number of pages	5
Journal	IEEE Transactions on Robotics and Automation
Volume	12
Issue number	3
DOIs	https://doi.org/10.1109/70.499827
Publication status	Published - 1996

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/70.499827

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abstract = "This paper seeks to improve the zero-state performance of a standard model reference adaptive control scheme for rigid robots by augmenting the usual model reference control law with an auxiliary component synthesized from the tracking error. A condition involving a certain design parameter is given which can be used to decide a priori whether the modified scheme can potentially outperform its unmodified counterpart. If the joint accelerations are available for measurement, then it is shown that this condition can always be satisfied and the zero-state performance of the modified scheme can in fact be arbitrarily improved.",

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note = "Funding Information: Manuscript received July 16, 1993, revised September 1, 1994 This paper was recommended for publicatlon by Associate Editor V Kumar and J Koivo upon evaluation of reviewers' comments This work was by the National Science Foundation under Grant ECS-9210726 The authors are with the Department of Electrical Engineering, Texas A&M University, College Station, TX 77843 USA. Publisher Item Identifier S 1042-296X(96)00496-X",

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PY - 1996

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N2 - This paper seeks to improve the zero-state performance of a standard model reference adaptive control scheme for rigid robots by augmenting the usual model reference control law with an auxiliary component synthesized from the tracking error. A condition involving a certain design parameter is given which can be used to decide a priori whether the modified scheme can potentially outperform its unmodified counterpart. If the joint accelerations are available for measurement, then it is shown that this condition can always be satisfied and the zero-state performance of the modified scheme can in fact be arbitrarily improved.

AB - This paper seeks to improve the zero-state performance of a standard model reference adaptive control scheme for rigid robots by augmenting the usual model reference control law with an auxiliary component synthesized from the tracking error. A condition involving a certain design parameter is given which can be used to decide a priori whether the modified scheme can potentially outperform its unmodified counterpart. If the joint accelerations are available for measurement, then it is shown that this condition can always be satisfied and the zero-state performance of the modified scheme can in fact be arbitrarily improved.

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A modified model reference adaptive control scheme for rigid robots

Abstract

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