A new approach to switching robust adaptive control

被引：0
|
作者：
Quang, NC [1 ]
Tordon, MJ [1 ]
Katupitiya, J [1 ]
机构：
[1] Univ New S Wales, Sch Mech & Mfg Engn, Kensington, NSW 2033, Australia
来源：
2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年
关键词：
D O I：
10.1109/CDC.2004.1428974
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Comparison of advantages and disadvantages of control methods used in nonlinear systems is presented. To take advantage of both adaptive and robust control methods, a novel method which switches between the two is proposed. Robust control is used during transients and situations where parameters are uncertain. During steady state operations, adaptive control is used. Switching between the two methods is carried out based on the standard deviation of the estimated parameter vector. The method has been implemented on a 2 DOF articulated robot. Experimental results are presented to prove the robustness and the accuracy of the new control method.
引用
收藏
页码：3247 / 3252
页数：6
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