Computed torque adaptive control of rigid robots with improved transient performance

Aniruddha Datta, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper considers a modified model reference adaptive control scheme that can be used to improve the transients associated with the manipulator trajectory tracking error. The improvement in transient behavior is achieved by using a modified model reference controller structure. The modification to the controller structure is motivated by treating the parameter mismatch as an external disturbance, and then designing an auxiliary control input to reject the latter. The design of the auxiliary control input uses standard results from L1 optimal control theory. Using such a modified scheme, it is shown that arbitrary improvement in transient performance is possible only if the joint accelerations are available for measurement. Otherwise, a condition involving a certain design parameter must be checked to determine if it is at all possible for the modified scheme to perform better than its unmodified counterpart. This condition does not involve the unknown robot parameters and can therefore, be easily checked a priori.

Original languageEnglish
Title of host publicationAmerican Control Conference
PublisherPubl by IEEE
Pages1418-1422
Number of pages5
ISBN (Print)0780308611, 9780780308619
DOIs
Publication statusPublished - 1993
EventProceedings of the 1993 American Control Conference Part 3 (of 3) - San Francisco, CA, USA
Duration: 1993 Jun 21993 Jun 4

Publication series

NameAmerican Control Conference

Other

OtherProceedings of the 1993 American Control Conference Part 3 (of 3)
CitySan Francisco, CA, USA
Period93-06-0293-06-04

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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