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
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;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371211
