A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs
作者： M. Bennehar , A. Chemori , F. Pierrot
DOI: 10.1109/IROS.2014.6942779
关键词:
摘要: A new controller based on the desired compensation adaptive strategy is developed. The linear feedback gains in conventional DCAL are replaced by nonlinear ones order to improve its tracking performance and endow it with better disturbance rejection. Based trajectories dynamic model, adaptation algorithm formulated estimate parameters which require no prior knowledge or bounds of their real values. To show effectiveness, proposed validated through real-time experiments Dual-V, a 3-DOF redundantly actuated parallel manipulator. obtained results that outperforms one terms errors.
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