Adaptive gain adjustment for a learning control method for robotics

摘要

P. Bondi et al. (IEEE Journal of Robotics and Autom., vol.4, p.14-22, Feb. 1988) proposed a high-gain feedback method for learning control and showed that there exist gains which ensure trajectory convergence to a desired response. An adaptive gain-adjustment technique is suggested that enables the system to choose adaptively the gains which yield convergence. The technique is illustrated with the results of a simulation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>