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
  • [31] Adaptive robust control-based energy management of hybrid PV-Battery systems with improved transient performance
    Taghavifar, Hadi
    Taghavifar, Hamid
    [J]. INTERNATIONAL JOURNAL OF HYDROGEN ENERGY, 2021, 46 (10) : 7442 - 7453
  • [32] Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems
    Zhang, Menghua
    Ma, Xin
    Song, Rui
    Rong, Xuewen
    Tian, Guohui
    Tian, Xincheng
    Li, Yibin
    [J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2018, 5 (03) : 683 - 690
  • [33] Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems
    Menghua Zhang
    Xin Ma
    Rui Song
    Xuewen Rong
    Guohui Tian
    Xincheng Tian
    Yibin Li
    [J]. IEEE/CAA Journal of Automatica Sinica, 2018, 5 (03) : 683 - 690
  • [34] Adaptive Fuzzy Control of Wheeled Mobile Robots With Prescribed Trajectory Tracking Performance
    Ding, Wei
    Zhang, Jin-Xi
    Shi, Peng
    [J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2024, 32 (08) : 4510 - 4521
  • [35] Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance
    Huang, Jeng-Tze
    Chiu, Chun-Kai
    [J]. PROCESSES, 2021, 9 (12)
  • [36] Robust Composite Adaptive Control of Linearisable Systems With Improved Performance
    Huang, Jeng-Tze
    Jiang, Yu-Wei
    [J]. IEEE ACCESS, 2021, 9 (09): : 88037 - 88047
  • [37] Performance Analysis of An improved Single Neuron Adaptive PID Control
    Wang Wu
    Bai Zheng-min
    [J]. 2010 THIRD INTERNATIONAL SYMPOSIUM ON INTELLIGENT INFORMATION TECHNOLOGY AND SECURITY INFORMATICS (IITSI 2010), 2010, : 22 - 25
  • [38] Partially decentralized adaptive control of interconnected systems with improved performance
    Ho, MT
    Datta, A
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 1996, 64 (03) : 529 - 561
  • [39] Switching Adaptive Control of Mobile Robots
    De La Cruz, Celso
    Carelli, Ricardo
    Bastos, Teodiano Freire
    [J]. 2008 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-5, 2008, : 1208 - +
  • [40] Adaptive DOB control of underwater robots
    Zhao, S
    Yuh, J
    [J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 571 - 576
12345