A Novel Adaptive Control Algorithm in application to a humanoid robot arm

Muhammad Nasiruddin Mahyuddin, Guido Herrmann, Said G Khan

Research output: Chapter in Book/Report/Conference proceedingChapter in a book

15 Citations (Scopus)

Abstract

A novel adaptive control algorithm was proposed and implemented in real-time on 2 degrees-of-freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in joint-space. The algorithm features a sliding-mode term based adaptive law that captures directly the parameter estimation error. By virtue of an introduced auxiliary filtered regression matrix, vector and filtered computed torque, parameter error convergence to zero can be guaranteed with a Persistent-Excitation(p.e.) condition ensured within finite-time. It will be shown practically that the parameter estimation algorithm can improve tracking in comparison to the usual tracking error based parameter estimation schemes.
Original languageEnglish
Title of host publicationADVANCES IN AUTONOMOUS ROBOTICS
Place of PublicationBerlin
PublisherSpringer Berlin Heidelberg
Pages25-36
Number of pages12
Volume7429
ISBN (Electronic)978-3-642-32527-4
ISBN (Print)978-3-642-32526-7
DOIs
Publication statusPublished - Aug 2012

Publication series

NameLecture Notes in Computer Science

Keywords

  • adaptive control
  • robotic arm
  • parameter estimation

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