Instability analysis and robust adaptive control of robotic manipulators
Date
1988Publisher
Publ by IEEESource
Proceedings of the IEEE Conference on Decision and ControlProceedings of the 27th IEEE Conference on Decision and Control
Pages
1607-1612Google Scholar check
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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 the instabilities are counteracted and robustness is guaranteed.