Title :
A two-step adaptive controller for a two-body system
Author_Institution :
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
fDate :
5/1/2000 12:00:00 AM
Abstract :
A reduced-order adaptive control scheme using a direct state-feedback control law and an indirect feedforward compensation design is presented for a two-body system with joint flexibility and damping. A detailed stability analysis is given for such a two-step adaptive control design, which ensures closed-loop signal boundedness and asymptotic output tracking
Keywords :
adaptive control; closed loop systems; compensation; damping; feedforward; reduced order systems; stability; state feedback; asymptotic output tracking; closed-loop signal boundedness; direct state-feedback control; indirect feedforward compensation; joint flexibility; reduced-order adaptive control scheme; stability analysis; two-body system; two-step adaptive controller; Adaptive control; Control systems; Damping; Friction; Linear feedback control systems; Output feedback; Programmable control; Signal design; Transfer functions; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
