On the Choice of Adaptive Gains for the Inertial Matrix Identification Problem

抄録

This paper studies the problem of inertia matrix identification using the adaptive tracking control proposed by Ahmed et al. The singular perturbation method and the averaging method are applied to analyze the linearized closed loop systems. Then a combination of periodic commands, PD gains and adaptive gains are established such that all estimates simultaneously converge to true values in local with a specified convergence rate.