An extremum-seeking control approach for constrained robotic motion tasks
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- 作者：Vasiliki Koropoulia ; vicky@lsr.ei.tum.de" class="auth_mail" title="E-mail the corresponding author ; Azwirman Gusrialdib ; Azwirman.Gusrialdi@ucf.edu" class="auth_mail" title="E-mail the corresponding author ; Sandra Hirchec ; hirche@tum.de" class="auth_mail" title="E-mail the corresponding author ; Dongheui Leea ; dhlee@tum.de" class="auth_mail" title="E-mail the corresponding author
- 关键词：Model reference adaptive control ; State tracking ; Robot control ; Extremum seeking
- 刊名：Control Engineering Practice
- 出版年：2016
- 出版时间：July 2016
- 年：2016
- 卷：52
- 期：Complete
- 页码：1-14
- 全文大小：1702 K
文摘
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Develop an adaptive control approach for execution of robot end-effector motions.
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Develop an ESC–MRAC control approach for state tracking of multiple-input systems.
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Evaluate proposed approach in simulations and a real-world robotic task.