Title :
Adaptive control designs for a two-body system
Author :
Ma, Xaaoli ; Tao, Gang
Author_Institution :
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
Four adaptive controllers for a two-body system with joint flexibility and damping are studied, including direct, direct-indirect, indirect, backstepping designs. With different complexity, they all ensure closed-loop signal boundedness and asymptotic output tracking
Keywords :
adaptive control; closed loop systems; computational complexity; controllers; damping; state feedback; adaptive control designs; adaptive controllers; asymptotic output tracking; closed-loop signal boundedness; complexity; damping; direct backstepping designs; direct-indirect; indirect backstepping designs; joint flexibility; two-body system; Adaptive control; Backstepping; Control systems; Damping; Output feedback; Programmable control; Signal design; State feedback; Transfer functions; Uncertainty;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.830103
