Title :
On the guaranteed stability based adaptive control of robotic manipulators: continuity and boundedness
Author :
Su, Chun-Yi ; Stepanenko, Yury ; Hashimoto, Hideki
Author_Institution :
Dept. of Mech. Eng., Victoria Univ., BC, Canada
Abstract :
Based on the guaranteed stability approach, a modified adaptive controller is presented for robotic manipulators. The developed control strategy guarantees uniform ultimate boundedness of the tracking errors and parameter errors in the presence of a class of state-dependent uncertainties, and the tracking error can be made arbitrarily small. It is shown that with resettable design parameters and a low-pass-filter form of update equation the performance degradation and destabilization of robotic systems can be effectively prevented in the practical situation
Keywords :
adaptive control; asymptotic stability; manipulators; uncertain systems; continuity; destabilization; guaranteed stability based adaptive control; low-pass-filter update equation; parameter errors; performance degradation; resettable design parameters; robotic manipulators; state-dependent uncertainties; tracking errors; uniform ultimate boundedness; Adaptive control; Control systems; Equations; Error correction; Manipulators; Robot control; Robot kinematics; Robust stability; Service robots; Uncertainty;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411146
