Adaptive Control

Abstract

An adaptive control system is a system with a controller being able to adapt to uncertainty or variation of the plant parameters by using measured signals to improve its performance. approach to control the robot systems by adjusting the estimated parameters based on feedback information. The robot may not be able to properly perform the task initially, but by utilizing feedback information of the errors, the estimated parameters of the control system are updated online to reduce the errors eventually. An illustration of a typical adaptive control system for robots is shown in Fig. 1.