A robust adaptive controller for robot manipulators

摘要

The authors propose a globally convergent adaptive control scheme for robot motion control with the following features: first, the adaptation law processes enhanced robustness with respect to noisy velocity measurements; secondly, the controller does not require the inclusion of high-gain loops that may excite the unmodeled dynamics and amplify the noise level; thirdly the authors derive for the known parameter design a relationship between compensator gains and closed-loop convergence rates which is independent of the robot task. This helps the designer to carry out the gain tuning with an analysis of the robustness-performance tradeoff.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>