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Robustness of adaptive control of robots: Theory and experiment

  • Adaptation And Learning
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Book cover Advanced Robot Control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 162))

Abstract

It is well known in adaptive control theory that the performance of adaptive controllers can be highly sensitive to the modeling assumptions used to prove convergence. In this paper we discuss the robustness of adaptive control of rigid robots and methods for improving robustness in the face of unmodeled dynamics and external disturbances. Both theoretical and experimental results are presented. Robustness is achieved by modifying the rigid control algorithm in two important ways. First, the rigid robot control law is incorporated into a composite slow/fast control law by adding to it a “fast” control to damp the joint oscillations. Second, so-called σ-modification is used to ensure boundedness of the estimated parameters.

Research partially supported by the University of Illinois Manufacturing Research Center under Grant No. UFAS 1-5-80405.

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Authors and Affiliations

  1. Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, 1101 W. Springfield Ave., 61801, Urbana, Ill.

    Fathi Ghorbel, Alan Fitzmorris & Mark W. Spong

Authors
  1. Fathi Ghorbel
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  2. Alan Fitzmorris
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  3. Mark W. Spong
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Editor information

Carlos Canudas de Wit

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© 1991 Springer-Verlag

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Ghorbel, F., Fitzmorris, A., Spong, M.W. (1991). Robustness of adaptive control of robots: Theory and experiment. In: Canudas de Wit, C. (eds) Advanced Robot Control. Lecture Notes in Control and Information Sciences, vol 162. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0039263

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  • DOI: https://doi.org/10.1007/BFb0039263

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-54169-1

  • Online ISBN: 978-3-540-47479-1

  • eBook Packages: Springer Book Archive

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