Intelligent adaptive control of robotic manipulators based on a multiestimation scheme

被引：0
|
作者：
Ibeas, A [1 ]
de la Sen, M [1 ]
机构：
[1] Univ Basque Country, Fac Ciencias & Tecnol, Inst Invest & Desarrollo Proc, Campus Leioa,Apdo 644, E-48080 Bilbao, Spain
来源：
PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE AND APPLICATIONS, VOLS 1AND 2 | 2004年
关键词：
adaptive control; robot control; supervision; switching; impedance control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A multiestimation-based adaptive controller is designed for robotic manipulators. Multiestimation based techniques can improve the transient response of adaptive systems by the appropriate switching between the various estimation schemes running in parallel. The estimated parameter vector which parameterizes the adaptive controller is generated by a convex linear combination of the individual estimated vectors from multiestimation scheme. The switching process, which is subject to a minimum dwell or residence time in order to guarantee stability, is determined by the updating of the values of the coefficients of such a linear combination. The robot is controlled by using an impedance type control.
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页码：694 / 699
页数：6
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