Title :
Adaptive control of nonlinear system with time delay based on the feedback error learning method
Author :
Ushida, Shun ; Kimura, Hidenori
Author_Institution :
Graduate Sch. of Frontier Sci., Univ. of Tokyo, Japan
Abstract :
Aims to establish control theoretical validity of the feedback error learning (FEL) method for nonlinear manipulator dynamics including a time delay. It was shown in a practical two-links DD arm that with 200 milliseconds time delay in the feedback loop, the FEL method worked stably and tracking errors of the angles converged. In the paper, for the time delayed nonlinear systems, the stability of the adaptive control law of the FEL method is proven based on the small-gain theorem of nonlinear systems and Lyapunov stability theorem via a delayed state derivative.
Keywords :
Lyapunov methods; adaptive control; delays; feedback; learning systems; manipulator dynamics; nonlinear control systems; Lyapunov stability theorem; adaptive control; control theoretical validity; feedback error learning method; nonlinear manipulator dynamics; nonlinear system; small-gain theorem; stability; time delay; tracking errors; two-links direct drive arm; Adaptive control; Delay effects; Delay systems; Error correction; Feedback loop; Learning systems; Manipulator dynamics; Nonlinear systems; Stability; Tracking loops;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195824
