Title :
A study of convergence properties of adaptive algorithms for robotic systems
Author_Institution :
Harry G. Armstrong Med. Res. Lab., Wright Patterson Air Force Base, OH, USA
Abstract :
A comparison is made between two types of adaptive control algorithm. The first type is based on Lyapunov functions, and mechanical energy considerations play a key role in their construction. A second method studied involves a majorizing function approach in which a linear function bounds the modeling error which implicitly involves different types of nonlinearity. A gravity vector nonlinearity is studied as an example. This latter method is more of a dominant eigenvalue method and is compared to the time constant approach using the Lyapunov functions.<>
Keywords :
Lyapunov methods; adaptive control; convergence; eigenvalues and eigenfunctions; robots; Lyapunov functions; adaptive control algorithm; bounds; convergence properties; dominant eigenvalue method; gravity vector nonlinearity; linear function; majorizing function; mechanical energy considerations; modeling error; robotic systems; time constant approach; Adaptive control; Eigenvalues and eigenfunctions; Lyapunov methods; Robots;
Conference_Titel :
Systems Engineering, 1989., IEEE International Conference on
Conference_Location :
Fairborn, OH, USA
DOI :
10.1109/ICSYSE.1989.48735
