Experimental comparison of parameter estimation methods in adaptive robot control

Share/Save/Bookmark

Berghuis, Harry and Roebbers, Herman and Nijmeijer, Henk (1995) Experimental comparison of parameter estimation methods in adaptive robot control. Automatica, 31 (9). pp. 1275-1285. ISSN 0005-1098

open access
[img]
Preview
PDF
1MB
Abstract:In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed, ranging from tracking-error-driven gradient methods to combined tracking- and prediction-error-driven least-squares type adaptation methods. This paper presents experimental data from a comparative study between these adaptation methods, performed on a two-degrees-of-freedom robot manipulator. Our results show that the prediction error concept is sensitive to unavoidable model uncertainties. We also demonstrate empirically the fast convergence properties of least-squares adaptation relative to gradient approaches. However, in view of the noise sensitivity of the least-squares method, the marginal performance benefits, and the computational burden, we (cautiously) conclude that the tracking-error driven gradient method is preferred for parameter adaptation in robotic applications.
Item Type:Article
Copyright:© 1995 Elsevier Science
Research Group:
Link to this item:http://purl.utwente.nl/publications/14816
Official URL:http://dx.doi.org/10.1016/0005-1098(95)00046-Y
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page

Metis ID: 111802