Title :
Adaptive Model-Following Controls for Uncertain Dynamical Systems
Author_Institution :
Department of Mechanical Engineering, University of California, Berkeley, California 94720; Department of Mechanical and Aerospace, Engineering, Syracuse University, Syracuse, New York 13210.
Abstract :
The model-following problem for nonlinear uncertain dynamical systems is considered. Based only on knowledge of functional properties relating to the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to zero. Application to robotic tracking is discussed.
Keywords :
Adaptive control; Erbium; Error correction; Feedback control; Mechanical engineering; Programmable control; Robots; Time varying systems; Uncertain systems; Uncertainty;
Conference_Titel :
American Control Conference, 1986
Conference_Location :
Seattle, WA, USA
