2003 · 39 citations · 26 references
EngineeringMechanical EngineeringRobotics EngineeringDynamical SystemsRobot ControlRoboticsAdaptive ControlControl SystemsControl TheoryFeedback ControlManipulator ControlRobust ControlAdaptive Control Of Nonlinear SystemsAdaptive Control Of Uncertain SystemsAdaptive Robust ControlDynamicsDynamics Of Robotic ManipulatorsRobust Adaptive ControlRobust Control Of Time-varying SystemsRobust Stabilization
The robustness of adaptive controllers with respect to uncertainty is examined. The uncertainties include bounded input disturbances, unknown and time-varying plant parameters, and unmodeled dynamics. A simple example shows instability of a recent manipulator control scheme in the presence of bounded disturbances. The adaptive laws for updating the controller parameters are modified so that the instabilities are counteracted and robustness is guaranteed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Adaptive control of mechanical manipulators
John Craig, Shankar Sastry · 1986 · 628 citations
Engineering, Mechanical Engineering, Robotics Engineering +17