A modified model reference adaptive control scheme for rigid robots Academic Article

abstract

• This paper seeks to improve the zero-state performance of a standard model reference adaptive control scheme for rigid robots by augmenting the usual model reference control law with an auxiliary component synthesized from the tracking error. A condition involving a certain design parameter is given which can be used to decide a priori whether the modified scheme can potentially outperform its unmodified counterpart. If the joint accelerations are available for measurement, then it is shown that this condition can always be satisfied and the zero-state performance of the modified scheme can in fact be arbitrarily improved. 1996 IEEE.

authors

• Datta, Aniruddha

published proceedings

• IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION

author list (cited authors)

• Datta, A., & Ho, M. T.

citation count

• 5

complete list of authors

• Datta, A||Ho, MT

publication date

• June 1996

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Transactions on Automation Science and Engineering  Journal

Digital Object Identifier (DOI)

• 10.1109/70.499827

start page

• 466

end page

• 470

volume

• 12

issue

• 3

URL

• http://dx.doi.org/10.1109/70.499827