Variable parameter robust gradient estimation algorithm with dead zone for the trajectory tracking of the joints of the manipulator
A variable parameter robust gradient estimation algorithm with dead zone is presented in this paper. The concept of the error level is proposed. Selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experimen...
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| creator | Yuncan Xue Zhiqian Mei Jinlong Jiang Qiwen Yang |
| description | A variable parameter robust gradient estimation algorithm with dead zone is presented in this paper. The concept of the error level is proposed. Selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experiments carried out on the robot. With it, a self-tuning PID controller is used for the trajectory tracking of the joints of the manipulator. Good tracking performance shows the effectiveness of the improved robust gradient estimation algorithm. |
| doi_str_mv | 10.1109/ICIT.2003.1290259 |
| format | Conference Proceeding |
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The concept of the error level is proposed. Selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experiments carried out on the robot. With it, a self-tuning PID controller is used for the trajectory tracking of the joints of the manipulator. Good tracking performance shows the effectiveness of the improved robust gradient estimation algorithm.</description><subject>Computer errors</subject><subject>Educational institutions</subject><subject>Motion control</subject><subject>Noise robustness</subject><subject>Parameter estimation</subject><subject>Resonance light scattering</subject><subject>Robots</subject><subject>Three-term control</subject><subject>Time varying systems</subject><subject>Trajectory</subject><isbn>0780378520</isbn><isbn>9780780378520</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2003</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1UMtOwzAQtISQgNIPQFz8Aw1ru06cI4p4RKrEpXCtNvGmdUniyHGFypUfJ0DZw86MZrTSLGM3AhIhIL8ri3KdSACVCJmD1PkZu4LMgMqMlnDB5uO4h2lUrqf4Jft6w-CwaokPGLCjSIEHXx3GyLcBraM-chqj6zA633Nstz64uOv4x7S5JbT80_fEGx943BGPAfdURx-OP7R-d_2W--bX2nvXx_Ffddi74dDiFL1m5w22I81POGOvjw_r4nmxenkqi_vVwgnQcWEsSLSpUGB1ugStTEPa5mBBiIksa4F1RRWSqa2QREqaFIxY6tRmWaWlmrHbv7uOiDZDmEqF4-b0J_UNO7FhWA</recordid><startdate>2003</startdate><enddate>2003</enddate><creator>Yuncan Xue</creator><creator>Zhiqian Mei</creator><creator>Jinlong Jiang</creator><creator>Qiwen Yang</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2003</creationdate><title>Variable parameter robust gradient estimation algorithm with dead zone for the trajectory tracking of the joints of the manipulator</title><author>Yuncan Xue ; Zhiqian Mei ; Jinlong Jiang ; Qiwen Yang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i105t-8d02ad6130d5640538fe5d90d011e5d4c1acbebae8cd12ee3286081456d77b523</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2003</creationdate><topic>Computer errors</topic><topic>Educational institutions</topic><topic>Motion control</topic><topic>Noise robustness</topic><topic>Parameter estimation</topic><topic>Resonance light scattering</topic><topic>Robots</topic><topic>Three-term control</topic><topic>Time varying systems</topic><topic>Trajectory</topic><toplevel>online_resources</toplevel><creatorcontrib>Yuncan Xue</creatorcontrib><creatorcontrib>Zhiqian Mei</creatorcontrib><creatorcontrib>Jinlong Jiang</creatorcontrib><creatorcontrib>Qiwen Yang</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yuncan Xue</au><au>Zhiqian Mei</au><au>Jinlong Jiang</au><au>Qiwen Yang</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Variable parameter robust gradient estimation algorithm with dead zone for the trajectory tracking of the joints of the manipulator</atitle><btitle>IEEE International Conference on Industrial Technology, 2003</btitle><stitle>ICIT</stitle><date>2003</date><risdate>2003</risdate><volume>1</volume><spage>152</spage><epage>156 Vol.1</epage><pages>152-156 Vol.1</pages><isbn>0780378520</isbn><isbn>9780780378520</isbn><abstract>A variable parameter robust gradient estimation algorithm with dead zone is presented in this paper. The concept of the error level is proposed. Selection criteria of the error level are given according to the min-max principle. Good performance of the improved algorithm is verified by the experiments carried out on the robot. With it, a self-tuning PID controller is used for the trajectory tracking of the joints of the manipulator. Good tracking performance shows the effectiveness of the improved robust gradient estimation algorithm.</abstract><pub>IEEE</pub><doi>10.1109/ICIT.2003.1290259</doi></addata></record> |
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| ispartof | IEEE International Conference on Industrial Technology, 2003, 2003, Vol.1, p.152-156 Vol.1 |
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| language | eng |
| recordid | cdi_ieee_primary_1290259 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computer errors Educational institutions Motion control Noise robustness Parameter estimation Resonance light scattering Robots Three-term control Time varying systems Trajectory |
| title | Variable parameter robust gradient estimation algorithm with dead zone for the trajectory tracking of the joints of the manipulator |
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