Enhanced Adaptive Control over Robotic Systems via

S. Nedelchev ; L. Kozlov ; R. Khusainov ; I. Gaponov

Russian journal of nonlinear dynamics, Tome 19 (2023) no. 4, pp. 633-646.

Résumé

Adaptive control and parameter estimation have been widely employed in robotics to deal with parametric uncertainty. However, these techniques may suffer from parameter drift, depen- dence on acceleration estimates and conservative requirements for system excitation. To over- come these limitations, composite adaptation laws can be used. In this paper, we propose an enhanced composite adaptive control approach for robotic systems that exploits the acceleration- free momentum dynamics and regressor extensions to offer faster parameter and tracking con- vergence while relaxing excitation conditions and providing a clear physical interpretation. The effectiveness of the proposed approach is validated through experimental evaluation on a 3-DoF robotic leg.

Détail

Keywords: adaptive control, parameter estimation, motion control

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