The Application of Model-Referenced Adaptive Control to Robotic Manipulators

[+] Author and Article Information
S. Dubowsky

School of Engineering and Applied Sciences, University of California, Los Angeles, Calif. 90024

D. T. DesForges

Jet Propulsion Laboratory, California Institute of Technology, Pasadena, Calif. 91103

J. Dyn. Sys., Meas., Control 101(3), 193-200 (Sep 01, 1979) (8 pages) doi:10.1115/1.3426424 History: Received June 18, 1979; Online July 13, 2010


The achievement of quality dynamic performance in manipulator systems is difficult using conventional control methods because of both the inherent geometric nonlinearities of these systems and the dependence of the system dynamics on the characteristics of manipulated objects. A model-referenced adaptive control law is developed for maintaining uniformly good performance over a wide range of motions and payloads. The effectiveness of the approach is demonstrated in several simulations and the system stability as a function of input is investigated. Also developed is a “learning signal” approach designed to minimize initial transients arising from abrupt changes in the inertial payload.

Copyright © 1979 by ASME
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