Adaptive control of robots with an improved transient performance

被引：30
|
作者：
Arteaga, MA [1 ]
Tang, Y [1 ]
机构：
[1] Univ Nacl Autonoma Mexico, DEPFI, Sec Elect, Mexico City 04510, DF, Mexico
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 07期
关键词：
adaptive control; robot manipulators; transient performance;
D O I：
10.1109/TAC.2002.800672
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
By using a robust control technique, this note proposes an adaptive control for rigid robots with the following Important features: under a parameter-dependent persistent excitation (PE) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results.
引用
收藏
页码：1198 / 1202
页数：5
相关论文
共 50 条
  • [1] Decentralized adaptive control with improved transient performance
    Fukao, T
    Kashima, H
    Adachi, N
    [J]. LARGE SCALE SYSTEMS: THEORY AND APPLICATIONS 1998 (LSS'98), VOL 1, 1999, : 157 - 162
  • [2] Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation
    Tomei, P
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (03) : 654 - 658
  • [3] Adaptive Slope Voltage Control for Distributed Generation Inverters With Improved Transient Performance
    Rey, Juan M.
    Castilla, Miguel
    Miret, Jaume
    Camacho, Antonio
    Guzman, Ramon
    [J]. IEEE TRANSACTIONS ON ENERGY CONVERSION, 2019, 34 (03) : 1644 - 1654
  • [4] Identifier-Based Adaptive Robust Control for Servomechanisms With Improved Transient Performance
    Zhang, Guozhu
    Chen, Jie
    Li, Zhiping
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2010, 57 (07) : 2536 - 2547
  • [5] Transient Performance Bounds for Adaptive Control
    Sajjanshetty, Kiran S.
    Safonov, Michael G.
    [J]. 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC), 2018, : 4075 - 4080
  • [6] A MODIFIED-MODEL REFERENCE ADAPTIVE-CONTROL SCHEME FOR IMPROVED TRANSIENT PERFORMANCE
    SUN, J
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1993, 38 (08) : 1255 - 1259
  • [7] On transient performance improvement of adaptive control architectures
    Gruenwald, Benjamin
    Yucelen, Tansel
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2015, 88 (11) : 2305 - 2315
  • [8] Transient Performance Analysis of Adaptive Control with Control Architecture Modification
    Shi, Zhongjiao
    Zhao, Liangyu
    Zhao, Yong
    Gao, Fengjie
    [J]. 2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 45 - 50
  • [9] An Adaptive Control Based on Improved Gray Wolf Algorithm for Mobile Robots
    Xue, Haoran
    Lu, Shouyin
    Zhang, Chengbin
    [J]. APPLIED SCIENCES-BASEL, 2024, 14 (16):
  • [10] Adaptive Leader-Follower Formation Control of Nonholonomic Mobile Robots With Prescribed Transient and Steady-State Performance
    Dai, Shi-Lu
    He, Shude
    Chen, Xin
    Jin, Xu
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2020, 16 (06) : 3662 - 3671
12345