@article {10.3844/ajassp.2007.346.353,
article_type = {journal},
title = {Adaptive Control of Robotic Manipulators with Improvement of the Transient Behavior Through an Intelligent Supervision of the Free-Design Parameters and the Sampling Period },
author = {Sen, M. De La and Almansa, A. and Soto, J.C.},
volume = {4},
year = {2007},
month = {Jun},
pages = {346-353},
doi = {10.3844/ajassp.2007.346.353},
url = {https://thescipub.com/abstract/ajassp.2007.346.353},
abstract = {An adaptive control scheme for mechanical manipulators proposed. The control loop consists of a network for learning the robot's inverse dynamics and on-line generating the control signal. Some simulation results were provided to evaluate the design. A supervisor was used to improve the performances of the system during the adaptation transients. The supervisor exerts two supervisory actions. The first one consists of updating the free-design adaptive controller parameters so that the value of a quadratic loss function maintained sufficiently small. The second supervisory action consists of an on-line adjustment of the sampling period within an interval centered at its nominal value. },
journal = {American Journal of Applied Sciences},
publisher = {Science Publications}
}