Title :
Instability analysis and robust adaptive control of robotic manipulators
Author :
Reed, John S. ; Ioannou, Petros A.
Author_Institution :
Hughes Aircraft Co., Los Angeles, CA, USA
fDate :
6/1/1989 12:00:00 AM
Abstract :
The robustness of adaptive controllers with respect to uncertainty is examined. The uncertainties include bounded input disturbances, unknown and time-varying plant parameters, and unmodeled dynamics. A simple example shows instability of a recent manipulator control scheme in the presence of bounded disturbances. The adaptive laws for updating the controller parameters are modified so that instabilities are counteracted and robustness is guaranteed
Keywords :
adaptive control; control system analysis; robots; stability; bounded input disturbances; control system analysis; instability analysis; robotic manipulators; robust adaptive control; time-varying plant parameters; uncertainty; unknown parameters; Actuators; Adaptive control; Aircraft propulsion; Control systems; Gears; Manipulator dynamics; Optimal control; Programmable control; Robots; Robust control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
