• DocumentCode
    1227251
  • Title

    Instability analysis and robust adaptive control of robotic manipulators

  • Author

    Reed, John S. ; Ioannou, Petros A.

  • Author_Institution
    Hughes Aircraft Co., Los Angeles, CA, USA
  • Volume
    5
  • Issue
    3
  • fYear
    1989
  • fDate
    6/1/1989 12:00:00 AM
  • Firstpage
    381
  • Lastpage
    386
  • Abstract
    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 instabilities are counteracted and robustness is guaranteed
  • Keywords
    adaptive control; control system analysis; robots; stability; bounded input disturbances; control system analysis; instability analysis; robotic manipulators; robust adaptive control; time-varying plant parameters; uncertainty; unknown parameters; Actuators; Adaptive control; Aircraft propulsion; Control systems; Gears; Manipulator dynamics; Optimal control; Programmable control; Robots; Robust control;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.34776
  • Filename
    34776
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1227251