COMPARATIVE EXPERIMENTS WITH A NEW ADAPTIVE CONTROLLER FOR ROBOT ARMS

被引：131

作者：

WHITCOMB, LL ^{[1
]}

RIZZI, AA ^{[1
]}

KODITSCHEK, DE ^{[1
]}

机构：

[1] YALE UNIV, DEPT ELECT ENGN, CTR SYST SCI, NEW HAVEN, CT 06520 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 01期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/70.210795

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage.

引用

页码：59 / 70

页数：12

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