Adaptive Control of Robotic Manipulators with Improvement of the Transient Behavior Through an Intelligent Supervision of the Free-Design Parameters and the Sampling Period
M. De La Sen, A. Almansa and J.C. Soto
DOI : 10.3844/ajassp.2007.346.353
American Journal of Applied Sciences
Volume 4, Issue 6
An adaptive control scheme for mechanical manipulators proposed. The control loop consists of a network for learning the robot's inverse dynamics and on-line generating the control signal. Some simulation results were provided to evaluate the design. A supervisor was used to improve the performances of the system during the adaptation transients. The supervisor exerts two supervisory actions. The first one consists of updating the free-design adaptive controller parameters so that the value of a quadratic loss function maintained sufficiently small. The second supervisory action consists of an on-line adjustment of the sampling period within an interval centered at its nominal value.
© 2007 M. De La Sen, A. Almansa and J.C. Soto. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.