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This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage.
Louis L. Whitcomb, Daniel E. Koditschek, and Alfred A. Rizzi, "Comparative Experiments with a New Adaptive Controller for Robot Arms", . February 1993.
Date Posted: 13 March 2008
This document has been peer reviewed.