Adaptive control of manipulators with supervision of the sampling rate and free-parameters of the adaptation algorithm

Proceedings of the American Control Conference

Volumn 6, Issue , 1999, Pages 4553-4557

  De La Sen, M ^a   Almansa, A ^a  

^a UNIVERSITY OF THE BASQUE COUNTRY UPV EHU   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE ALGORITHMS; ADAPTIVE CONTROL SYSTEMS; PARAMETER ESTIMATION;

ADAPTATION TRANSIENTS; TRACKING ERRORS;

MANIPULATORS;

EID: 0033284979     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. Craig, J.J., Introduction to Robotics, Mechanics and Control. (Reading, Mass.: Addison-Wesley), 1986.
2. Craig, J.J, Adaptive Control of Mechanical Manipulators. (Reading, Mass.: Addison-Wesley), 1988.
3. Antsakis, P.J., Neural networks in control systems, IEEE Control Systems Magazine, 10, 3-5, 1990.
4. Barry, P.E., Optimal control of multirate systems. Report RN - 361, Research Department, Grumman Aerospace Corporation, 1975.
5. De la Sen, M., On-line optimization of the free parameters in discrete adaptive control systems, Proc IEE - D, Vol. 131, No. 4, pp. 146-157, 1984.
6. De la Sen, M., A new modeling for aperiodic sampling systems, Int. J. of Systems Science, Vol. 15, No. 3, pp. 315-328, 1984.
7. De la Sen, M., Multirate hybrid adaptive control, IEEE Trans. Automat. Control, Vol. 17, No. 1, pp. 9-14, 1986.