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
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 the instabilities are counteracted and robustness is guaranteed
Keywords :
adaptive control; robots; stability; bounded disturbances; bounded input disturbances; instability analysis; robotic manipulators; robust adaptive control; time-varying plant parameters; uncertainty; unknown parameters; unmodeled dynamics; Actuators; Adaptive control; Aircraft; Control systems; Gears; Manipulator dynamics; Nonlinear dynamical systems; Programmable control; Robots; Robust control;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194599
