Adaptive gain adjustment for a learning control method for robotics Conference Paper uri icon

abstract

  • In the work of P. Bondi et al (IEEE Journal of Robotics and Autom., vol. 4, pp. 14-22, Feb 1988) a high-gain feedback method for learning control is proposed, and it is shown that there exist gains which ensure trajectory convergence to a desired response. An adaptive gain-adjustment technique is suggested that will enable the system to adaptively choose the gains which yield convergence. The technique is illustrated with the results of a simulation.

published proceedings

  • ICRA

author list (cited authors)

  • Moore, K. L., Dahleh, M., & Bhattacharyya, S. P.

complete list of authors

  • Moore, KL||Dahleh, M||Bhattacharyya, SP

publication date

  • December 1990

publisher