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.
|Translated title of the contribution||A Novel Adaptive Control Algorithm in application to a humanoid robot arm|
|Title of host publication||FIRA - TAROS 2012 - Joint conferences Towards Autonomous Robotic Systems & FIRA RoboWorld Congress|
|Publication status||Published - 2012|