Title :
A note on Lyapunov stability for an adaptive robot controller
Author :
Egeland, O. ; Godhavn, J.-M.
Author_Institution :
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
fDate :
8/1/1994 12:00:00 AM
Abstract :
Stability in the sense of Lyapunov for the adaptive robot controller proposed by Slotine and Li (1988) is proved in this note. The result is a generalization of previous work, where the feedback gain matrix was assumed to be constant and diagonal, while in this paper the feedback gain matrix is only assumed to be uniformly positive definite
Keywords :
Lyapunov methods; adaptive control; closed loop systems; feedback; matrix algebra; robots; stability; Lyapunov stability; adaptive robot controller; feedback gain matrix; uniformly positive definite; Adaptive control; Automatic control; Error correction; Feedback; Lyapunov method; Programmable control; Robot control; Robot sensing systems; Robust control; Symmetric matrices;
Journal_Title :
Automatic Control, IEEE Transactions on
