DocumentCode
2407147
Title
System stability and performance analysis based on generalized energy accumulation. I. Applications
Author
Song, Y.D. ; Homaifar, Abdollah ; Lai, H.Y.
Author_Institution
NASA Center for Aerosp. Res., North Carolina AT&T State Univ., Greensboro, NC
fYear
1992
fDate
1992
Firstpage
3452
Abstract
The application of the criteria established by Y.D. Song and J.N. Anderson (1992) are applied to robotic systems. Performance analysis based on these criteria are given. A particular objective is to derive new adaptive and robust control strategies, which ensure stable path tracking and allow adjustable rates-of-convergence (ROCs). To this end, the concepts of rate function and rate transformation are introduced. Adaptive tracking with adjustable ROC is described
Keywords
adaptive control; path planning; robots; stability; adaptive tracking; adjustable rates-of-convergence; generalized energy accumulation; performance analysis; rate function; rate transformation; robotic systems; stable path tracking; system stability; Adaptive control; Convergence; Manufacturing; NASA; Performance analysis; Programmable control; Robots; Robust control; Stability analysis; Stability criteria;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location
Tucson, AZ
Print_ISBN
0-7803-0872-7
Type
conf
DOI
10.1109/CDC.1992.371211
Filename
371211
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