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Proceedings Paper

Adaptive gross motion control: a case study
Author(s): Michael B. Leahy Jr.; Paul V. Whalen; Gary B. Lamont
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Paper Abstract

The objective of the Gross Motion Control project at the Air Force Institute of Technology (AFIT) Robotic Systems Laboratory is to investigate alternative control approaches that will provide payload invariant high speed trajectory tracking for non-repetitive motions in free space. Our research has concentrated on modifications to the modelbased control structure. We are actively pursuing development and evaluation of both adaptive primary (inner loop) and robust secondary (output loop) controllers. In-house developments are compared and contrasted to the techniques proposed by other researchers. The case study for our evaluations is the first three links of a PUMA- 560. Incorporating the principals of multiple model adaptive estimation artificial neural networks and Lyapunov theory into the model-based paradigm has shown the potential for enhanced tracking. Secondary controllers based on Quantitative Feedback Theory or augmented with auxiliary inputs significantly improve the robustness to payload variations and unmodeled drive system dynamics. This paper presents an overview of the different concepts under investigation and highlights our latest experimental results.

Paper Details

Date Published: 1 February 1991
PDF: 11 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25420
Show Author Affiliations
Michael B. Leahy Jr., Air Force Institute of Technology (United States)
Paul V. Whalen, Air Force Institute of Technology (United States)
Gary B. Lamont, Air Force Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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