Summary
This paper compares the results of implementing three well-known adaptive algorithms on the motion-control of a planar revolute axis manipulator. The main emphasis is on the experimental results, and the relative efficacy of each algorithm. However, we also draw comparisons on the structure of each algorithm, and the corresponding implications for discrete-time implementations. The main conclusion is that the decentralised version of the Minimal Control Synthesis (MCS) algorithm of Stoten and Benchoubane [1,2] resulted in excellent model-following, with relative noise insensitivity and minimum flops per sampling interval. MCS is classed as a direct adaptive controller[3]. The two other direct adaptive controllers of Seraji [4] and Oh and Jamshidi [5] did not perform as well as MCS: model-following was not so close, noise was more of a problem and the implemented forms were more complicated.
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References
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© 1992 Springer Science+Business Media Dordrecht
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Stoten, D.P., Hodgson, S.P. (1992). A Comparison of Direct Adaptive Controllers Applied to a Class 1 Manipulator. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_15
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DOI: https://doi.org/10.1007/978-94-011-2526-0_15
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