By Topic

A modified model reference adaptive control scheme for rigid robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Datta, A. ; Dept. of Electr. Eng., Texas A&M Univ., College Station, TX, USA ; Ming-Tzu Ho

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

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:12 ,  Issue: 3 )