Experimental study on a novel simultaneous control and identification of a 3-DOF delta robot using model reference adaptive control

DOI10.1016/J.EJCON.2022.100715MaRDI QIDQ2676099zbMATH OpenOpenAlexFDO

Authors Mehran Ghafarian Tamizi, Ali Akbar Ahmadi Kashani, Faraz Abed Azad, Ahmad Kalhor, Mehdi Tale Masouleh

Publication date 27 September 2022

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2022.100715

zbMATH Keywords

3-DOF delta robotmodel reference adaptive controlsimultaneous control-and-identificationunknown parameters

Mathematics Subject Classification ID

Multivariable systems, multidimensional control systems (93C35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A Q-learning predictive control scheme with guaranteed stability
• A set-theoretic model reference adaptive control architecture for disturbance rejection and uncertainty suppression with strict performance guarantees
• Adaptive Control of Piecewise Linear Systems: the State Tracking Case
• Approximate solution of systems of linear equations†
• BIBO stability of linear switching systems
• Composite Model Reference Adaptive Control with Parameter Convergence Under Finite Excitation
• Convergence and stability of recursive damped least square algorithm
• Direct and Indirect Model Reference Adaptive Control for Multivariable Piecewise Affine Systems
• scientific article; zbMATH DE number 810021 (Why is no real title available?)
• Integral \(Q\)-learning and explorized policy iteration for adaptive optimal control of continuous-time linear systems
• Multivariable adaptive control: a survey
• Robust adaptive prescribed-time stabilization via output feedback for uncertain nonlinear strict-feedback-like systems
• Robustness of continuous-time adaptive control algorithms in the presence of unmodeled dynamics

Cited in

(2)

• A hydraulic delta-robot-based test bench for validation of smart products
• Robust data-driven dynamic optimization using a set-based gradient estimator

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