Title :
On Lyapunov function based decentralized adaptive controllers
Author :
Shi, Lin ; Singh, Sunil K.
Author_Institution :
Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH, USA
Abstract :
Application of the direct Lyapunov method for the design of decentralized adaptive controllers for tracking in nonlinear systems is examined. It is shown how the assumptions made about the nature of the nonlinear interactions influence the adaptation laws. The authors also examine the role of an auxiliary adaptive signal and show how it can be used to improve the convergence rate and the ultimate bound of the tracking error. Simulation results are presented for controlling the joints of a two-link robot using the proposed adaptive schemes
Keywords :
Lyapunov methods; adaptive control; control system synthesis; decentralised control; nonlinear systems; position control; robots; Lyapunov method; convergence; decentralized adaptive controllers; design; nonlinear systems; robot; tracking; Adaptive control; Distributed control; Interconnected systems; Lyapunov method; Manipulators; Nonlinear control systems; Nonlinear systems; Programmable control; Robots; Upper bound;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203600
