Robust adaptive control for robotic systems with guaranteed parameter estimation

Baorui Jing, Jing Na*, Guanbin Gao, Guoqing Sun

*Corresponding author for this work

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

3 Citations (Scopus)
229 Downloads (Pure)

Abstract

In this paper, we propose a novel adaptive control scheme for robotic systems by incorporating the parameter error into the adaptive law. By carrying out filter operations, the robotic system is linearly parameterized without using the measurements of acceleration. Then a new adaptive algorithm is introduced to guarantee that the parameter error and control error exponentially converge to zero. In particular, we provide an intuitive method to verify the standard PE condition for the parameter estimation. The robustness against disturbances is also studied and comparisons to several adaptive laws are provided. Simulations with a realistic robot arm are presented to validate the improved performance.

Original languageEnglish
Title of host publicationProceedings of the 2015 Chinese Intelligent Systems Conference
PublisherSpringer Verlag
Pages341-352
Number of pages12
ISBN (Print)9783662483848
DOIs
Publication statusPublished - 8 Nov 2015

Publication series

NameLecture Notes in Electrical Engineering
Volume359
ISSN (Print)18761100
ISSN (Electronic)18761119

Keywords

  • Adaptive control
  • Parameter estimation
  • PE condition
  • Robotic system

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