DocumentCode
3078238
Title
On Lyapunov function based decentralized adaptive controllers
Author
Shi, Lin ; Singh, Sunil K.
Author_Institution
Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH, USA
fYear
1990
fDate
5-7 Dec 1990
Firstpage
299
Abstract
Application of the direct Lyapunov method for the design of decentralized adaptive controllers for tracking in nonlinear systems is examined. It is shown how the assumptions made about the nature of the nonlinear interactions influence the adaptation laws. The authors also examine the role of an auxiliary adaptive signal and show how it can be used to improve the convergence rate and the ultimate bound of the tracking error. Simulation results are presented for controlling the joints of a two-link robot using the proposed adaptive schemes
Keywords
Lyapunov methods; adaptive control; control system synthesis; decentralised control; nonlinear systems; position control; robots; Lyapunov method; convergence; decentralized adaptive controllers; design; nonlinear systems; robot; tracking; Adaptive control; Distributed control; Interconnected systems; Lyapunov method; Manipulators; Nonlinear control systems; Nonlinear systems; Programmable control; Robots; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location
Honolulu, HI
Type
conf
DOI
10.1109/CDC.1990.203600
Filename
203600
Link To Document