Publication:
A New Approach to Switching Robust Adaptive Control
A New Approach to Switching Robust Adaptive Control
| dc.contributor.author | Quang, Nguyen C | en_US |
| dc.contributor.author | Tordon, Michal J | en_US |
| dc.contributor.author | Katupitiya, Jayantha | en_US |
| dc.date.accessioned | 2021-11-25T12:31:15Z | |
| dc.date.available | 2021-11-25T12:31:15Z | |
| dc.date.issued | 2004 | en_US |
| dc.description.abstract | Comparison of advantages and disadvantages of control methods used in nonlinear systems is presented. To take advantage of both adaptive and robust control methods, a novel method which switches between the two is proposed. Robust control is used during transients and situations where parameters are uncertain. During steady state operations, adaptive control is used. Switching between the two methods is carried out based on the standard deviation of the estimated parameter vector. The method has been implemented on a 2 DOF articulated robot. Experimental results are presented to prove the robustness and the accuracy of the new control method. | en_US |
| dc.identifier.isbn | 0-7803-8683-3 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1959.4/10964 | |
| dc.language | English | |
| dc.language.iso | EN | en_US |
| dc.publisher | IEEE | en_US |
| dc.rights | CC BY-NC-ND 3.0 | en_US |
| dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/3.0/au/ | en_US |
| dc.source | Legacy MARC | en_US |
| dc.subject.other | Adaptive. | en_US |
| dc.subject.other | Control. | en_US |
| dc.subject.other | Nonlinear. | en_US |
| dc.subject.other | Robust. | en_US |
| dc.title | A New Approach to Switching Robust Adaptive Control | en_US |
| dc.type | Conference Paper | en |
| dcterms.accessRights | open access | |
| dspace.entity.type | Publication | en_US |
| unsw.accessRights.uri | https://purl.org/coar/access_right/c_abf2 | |
| unsw.description.publisherStatement | ©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | en_US |
| unsw.identifier.doi | https://doi.org/10.26190/unsworks/88 | |
| unsw.relation.faculty | Engineering | |
| unsw.relation.ispartofconferenceLocation | Atlantis, Paradise Island, Bahamas | en_US |
| unsw.relation.ispartofconferenceName | 43rd IEEE Conference on Decision and Control | en_US |
| unsw.relation.ispartofconferenceProceedingsTitle | Proceedings of the 43rd IEEE Conference on Decision and Control | en_US |
| unsw.relation.ispartofconferenceYear | 2004 | en_US |
| unsw.relation.ispartofpagefrompageto | 3247-3252 | en_US |
| unsw.relation.originalPublicationAffiliation | Quang, Nguyen C, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW | en_US |
| unsw.relation.originalPublicationAffiliation | Tordon, Michal J, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW | en_US |
| unsw.relation.originalPublicationAffiliation | Katupitiya, Jayantha, Mechanical & Manufacturing Engineering, Faculty of Engineering, UNSW | en_US |
| unsw.relation.school | School of Mechanical and Manufacturing Engineering | * |
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