Robust adaptive finite-time parameter estimation and control for robotic systems

• Published in: International journal of robust and nonlinear control Vol. 25; no. 16; pp. 3045 - 3071
• Main Authors: Na, Jing, Mahyuddin, Muhammad Nasiruddin, Herrmann, Guido, Ren, Xuemei, Barber, Phil
• Format: Journal Article
• Language: English
• Published: Bognor Regis Blackwell Publishing Ltd 10.11.2015; Wiley Subscription Services, Inc
• Subjects: Adaptation; adaptive control; Adaptive control systems; Control systems; Convergence; Error analysis; Errors; finite-time convergence; Nonlinearity; Parameter estimation; robotic systems; Robotics; terminal sliding mode control

Summary This paper studies adaptive parameter estimation and control for nonlinear robotic systems based on parameter estimation errors. A framework to obtain an expression of the parameter estimation error is proposed first by introducing a set of auxiliary filtered variables. Then three novel adap...