DocumentCode
1140758
Title
A note on Lyapunov stability for an adaptive robot controller
Author
Egeland, O. ; Godhavn, J.-M.
Author_Institution
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
Volume
39
Issue
8
fYear
1994
fDate
8/1/1994 12:00:00 AM
Firstpage
1671
Lastpage
1673
Abstract
Stability in the sense of Lyapunov for the adaptive robot controller proposed by Slotine and Li (1988) is proved in this note. The result is a generalization of previous work, where the feedback gain matrix was assumed to be constant and diagonal, while in this paper the feedback gain matrix is only assumed to be uniformly positive definite
Keywords
Lyapunov methods; adaptive control; closed loop systems; feedback; matrix algebra; robots; stability; Lyapunov stability; adaptive robot controller; feedback gain matrix; uniformly positive definite; Adaptive control; Automatic control; Error correction; Feedback; Lyapunov method; Programmable control; Robot control; Robot sensing systems; Robust control; Symmetric matrices;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.310047
Filename
310047
Link To Document