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.
|Name||Lecture Notes in Computer Science|
- adaptive control
- robotic arm
- parameter estimation