Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments
This paper deals with a new control scheme for Parallel Kinematic Manipulators (PKMs) based on the L1 adaptive control theory. The original L1 adaptive controller is extended by including an adaptive loop based on the dynamics of the PKM. The additional model-based term is in charge of the compensat...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2015-12-01
|
| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00032/full |