Evaluation of parametric and nonparametric nonlinear adaptive controllers

被引：17

作者：

Burdet, E ^{[1
]}

Codourey, A

机构：

[1] Swiss Fed Inst Technol, Inst Robot, Zurich, Switzerland

[2] Simon Fraser Univ, Sch Kinesiol, Burnaby, BC V5A 1S6, Canada

来源：

ROBOTICA | 1998年 / 16卷

关键词：

adaptive controllers; nonlinear; control algorithms; trajectories; parameters;

D O I：

10.1017/S0263574798000150

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, nine adaptive control algorithms are compared. The best two of them are tested experimentally. It is shown that the Adaptive FeedForward Controller (AFFC) is well suited for learning the parameters of the dynamic equation, even in the presence of friction and noise. The resulting control performance is better than with measured parameters for any trajectory in the workspace. When the task consists of repeating the same trajectory, an adaptive look-up-table MEMory, introduced and analyzed in this paper, is simpler to implement and results in even better control performance.

引用

页码：59 / 73

页数：15

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