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

Muhammad N Mahyuddin; G Herrmann; S G Khan

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

Muhammad N Mahyuddin, G Herrmann, S G Khan

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

20 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.

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

Bibliographical note

Conference Organiser: University of Bristol

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@inproceedings{05a146dade5840c19ea447ccc5e13c8e,

title = "A Novel Adaptive Control Algorithm in application to a humanoid robot arm",

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.",

author = "Mahyuddin, {Muhammad N} and G Herrmann and Khan, {S G}",

note = "Conference Organiser: University of Bristol",

year = "2012",

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T1 - A Novel Adaptive Control Algorithm in application to a humanoid robot arm

AU - Mahyuddin, Muhammad N

AU - Herrmann, G

AU - Khan, S G

N1 - Conference Organiser: University of Bristol

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

M3 - Conference Contribution (Conference Proceeding)

BT - FIRA - TAROS 2012 - Joint conferences Towards Autonomous Robotic Systems & FIRA RoboWorld Congress

ER -

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

Abstract

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