2002 · 19 citations · 3 references
EngineeringMechatronics EngineeringRobotics EngineeringProcess ControlRobot ControlRoboticsAdaptive ControlControl SystemsControl TheoryController DesignServo SystemsSupervisory ControlAdaptive Control Of Nonlinear SystemsAdaptive Control Of Uncertain SystemsAdaptive Tracking ControlParameter UncertaintyParameter Uncertainty AnalysisStructured Uncertainty
In this paper, the authors develop an adaptive switching control method for servo systems with large structured parameter uncertainty by using a supervisor. Two design methods of the supervisor with small switching interval are investigated. Several experimental results of tracking control of a SCARA-type robot with unknown payload are given to show the effectiveness of the proposed method.
3