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Adaptive Control

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Encyclopedia of Robotics

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Definition

An adaptive control system is a system with a controller being able to adapt to uncertainty or variation of the plant parameters by using measured signals to improve its performance.

Overview

In model-based robot control method, the system is first modelled, and the robot parameters are identified, and a controller is then designed to perform the tasks based on the model. One key point is that the same sets of the estimated robot parameters are utilized for all manipulation tasks regardless of the operating or working conditions. During manipulation, the robotic manipulators may need to pick up or carry objects with arbitrary masses and dimensions, and hence the parameters may be uncertain or vary with different tasks. In the presence of uncertainty or variation of the parameters, it may result in steady-state errors or even lead to instability of the robot control system. Adaptive control method is an approach to control the robot systems by adjusting the estimated...

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References

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Author information

Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore

    Chien Chern Cheah & Quang Minh Ta

Authors
  1. Chien Chern Cheah
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  2. Quang Minh Ta
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Corresponding author

Correspondence to Chien Chern Cheah .

Editor information

Editors and Affiliations

  1. Dept. of Mechanical Engineering Blk 1E Gillman Hts #17-43, National University of Singapore, Singapore, Singapore

    Marcelo H Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Dipto di Informatica e Sistemistca, Univ di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

Section Editor information

  1. Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Aversa, Italy

    Ciro Natale

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Cheah, C.C., Ta, Q.M. (2020). Adaptive Control. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_88-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_88-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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