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Erschienen in:
2012 | OriginalPaper | Buchkapitel
A Novel Adaptive Control Algorithm in Application to a Humanoid Robot Arm
verfasst von : Muhammad Nasiruddin Mahyuddin, Guido Herrmann, Said Ghani Khan
Erschienen in: Advances in Autonomous Robotics
Verlag: Springer Berlin Heidelberg
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A novel adaptive control algorithm was proposed and implemented in real-time on 2 degrees-of-freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in joint-space. The algorithm features a sliding-mode term based adaptive law that captures directly the parameter estimation error. An auxiliary filtered regression vector and filtered computed torque is introduced. This allows the definition of another auxiliary matrix, a filtered regression matrix, which facilitates the introduction of the sliding term into the adaptation law. Parameter error convergence to zero can be guaranteed within finite-time with a Persistent-Excitation (PE) or Sufficient Richness condition for the demand. This theoretical result is then exemplified for the BERT II robot arm in simulation and experiment.