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State of the art in adaptive control of robotic systems

机译:机器人系统自适应控制的最新技术

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摘要

An up-to-date assessment of adaptive control technology as applied to robotics is presented. Although the field is relatively new and does not yet represent a mature discipline, considerable attention for the design of sophisticated robot controllers has occurred. In this presentation, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review.
机译:提出了适用于机器人技术的自适应控制技术的最新评估。尽管该领域是相对较新的并且尚未代表成熟的学科,但已经出现了对复杂机器人控制器设计的相当大的关注。在本演示中,自适应控制方法分为模型参考自适应系统和自整定调节器,并进一步定义了每类中给出的各种方法。描绘并列出了设计的控制器的相似性和独特功能,以增强比较性审查。

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