TY - GEN
T1 - Adaptive robot control with a second order sliding component
AU - Jager, de, A.G.
PY - 1997
Y1 - 1997
N2 - Two adaptive robot controllers, both with a second order sliding mode component, are proposed and compared. The two controllers have the same basic structure, have provable tracking error convergence, but their suitability for implementation in practice is markedly different. It appeared that one of the proposed control laws has favorable characteristics, both on theoretical as well as on practical grounds, and did perform quite well in a realistic simulation and in an experiment with a mechanical system with significant unmodeled dynamics. Compared with previous experimental results obtained with a variety of other control laws, the new controller did quite well
AB - Two adaptive robot controllers, both with a second order sliding mode component, are proposed and compared. The two controllers have the same basic structure, have provable tracking error convergence, but their suitability for implementation in practice is markedly different. It appeared that one of the proposed control laws has favorable characteristics, both on theoretical as well as on practical grounds, and did perform quite well in a realistic simulation and in an experiment with a mechanical system with significant unmodeled dynamics. Compared with previous experimental results obtained with a variety of other control laws, the new controller did quite well
M3 - Conference contribution
SN - 0-08-042908-4
T3 - IFAC conference proceedings
SP - 271
EP - 276
BT - Proceedings of the 13th world congress, International Federation of Automatic Control. Vol.A. Robotics, components and instruments / Ed. J.J. Gertler, J.B. Cruz, M. Peshkin, L. Basanez, F. Nicolo, A. Ollero
PB - Pergamon
CY - Oxford, UK
ER -