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Adaptive Control For Robot Manipulator

This document discusses the design of an adaptive control system for a robot manipulator to enable reference tracking in the presence of uncertainties and disturbances. It proposes a regressor-free adaptive control approach with less tuning parameters and stability guarantees. Additionally, it describes using the adaptive control framework to identify system parameters through online least squares system identification to approximate parameters and perform total least squares estimation.

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Rameez Hayat
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59 views2 pages

Adaptive Control For Robot Manipulator

This document discusses the design of an adaptive control system for a robot manipulator to enable reference tracking in the presence of uncertainties and disturbances. It proposes a regressor-free adaptive control approach with less tuning parameters and stability guarantees. Additionally, it describes using the adaptive control framework to identify system parameters through online least squares system identification to approximate parameters and perform total least squares estimation.

Uploaded by

Rameez Hayat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Adaptive Control for Robot Manipulator

Goal: Design of adaptive control in the presence of


system uncertainties and disturbances

Reference Tracking:
Regressor-free adaptive
control
Less tuning parameters
Stability in the presence
of disturbances and Two-degree-of-freedom robot
uncertainties manipulator

Rameez Hayat 1
System Identification
Goal: Based on the adaptive control, identify system
parameters using least squares technique

Parameters Estimation:
Approximating system
parameters
Online system
identification
Total least squares Coordinate frames of a 2-DOF
planar robot

Rameez Hayat 2

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