Input signal analysis for an adaptive computed torque control scheme applied to a three DOF cylindrical robot

A robotic application in which the control architecture is characterized by a computed torque scheme operating in conjunction with an input/output type of direct model reference adaptive controller has been developed. This control scheme, called the adaptive computed torque control scheme (ACTCS), aims to integrate the two philosophically different control strategies. The stability and robustness issues of the controller in response to a variety of input signals are examined. Experimental results on the Colorado State University (CSU) 3 degree-of-freedom cylindrical robot are presented.<<ETX>>

[1]  G.K.F. Lee,et al.  Model-referenced adaptive computed torque control of a cylindrical robot using linear compensation , 1989 .

[2]  George N. Saridis,et al.  L-Q design of PID controllers for robot arms , 1985, IEEE J. Robotics Autom..

[3]  G.K.F. Lee,et al.  Robustness Investigation of Adaptive Control Under Reference Model Switching for a Cylindrical Robot , 1989, 1989 American Control Conference.

[4]  K. Narendra,et al.  Bounded error adaptive control , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[5]  Anuradha Annaswamy,et al.  A general approach to the stability analysis of adaptive systems , 1984, The 23rd IEEE Conference on Decision and Control.

[6]  M. Bodson,et al.  Analysis of adaptive identifiers in the presence of unmodelled dynamics: Averaging and tuned parameters , 1987, 26th IEEE Conference on Decision and Control.