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- W2536691723 abstract "This paper presents a gain tuning method according to the sampling period in discrete-time adaptive control for robots. Gain matrices of model-based adaptive control in a continuous-time system are allowed high gain positive definite. However, the maximum of the gains depends on the sampling time, and gain tuning is a very time consuming work. Therefore, it is desirable to give an insight of gain tuning in discrete-time adaptive control. The proposed gain tuning consists of two steps. The first step is a gain tuning at the basic sampling time by a skillful specialist by means of trial and error. The second step that is executed if the sampling period changes, is a new gain calculation based on a new sampling period. The simulation and experiments of 1-dof robot and 3-dof robot show that the proposed gain tuned controller is stable at the large variance of the sampling period changes and more accurate than the fixed gain controller." @default.
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- W2536691723 date "2003-01-01" @default.
- W2536691723 modified "2023-09-26" @default.
- W2536691723 title "Gain tuning in discrete-time adaptive control for robots" @default.
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