Dong, Hongyang (Beihang University), QINGLEI, HU (Beihang University), Akella, Maruthi (The University of Texas at Austin)

Composite Adaptive Control for Robot Manipulator Systems

Scheduled for presentation during the Regular Session "Adaptive control" (FrM13), Friday, April 5, 2019, 10:00−10:30, BL281.2

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents a new class of adaptive controllers for robot manipulators under parameter uncertainties. The core design structure of this method is the employment of a special adaptive algorithm, in which both instantaneous state data and past measurements (historical data) are introduced into the adaptation process. The main contribution of the overall control scheme is that parameter estimation errors are ensured to exponentially converge to zero subject to the satisfaction of a finite excitation condition, which is a relaxation when compared to the persistent excitation condition that is typically required for these classes of problems regarding parameter convergence. Numerical simulations are illustrated to show the effectiveness of the proposed method.