Showing papers by "Rogelio Lozano published in 1996"
TL;DR: The above paper by the authors contains two flaws that were brought to their attention; the definition of a signal and the stability analysis given in one of the appendices is not complete.
Abstract: The above paper by the authors (Lozano and Brogliato, ibid., vol.37, p.174-81, 1992) contains two flaws that were brought to their attention. The first mistake concerns the definition of a signal which then effects the initial conditions on the state and on the desired trajectory. The second mistake is in the regressor matrix. Consequently the stability analysis given in one of the appendices is not complete. The authors provide corrections to the above mistakes.
10 citations
TL;DR: An adaptive controller that will stabilize and asymptotically regulate any continuous-time, linear time-invariant plant which has one input and one output is presented.
Abstract: This paper presents an adaptive controller that will stabilize and asymptotically regulate any continuous-time, linear time-invariant plant which has one input and one output. The only assumptions on the plant are observability, controllability, and the a priori knowledge of an upper bound on the plant order. The adaptive control concept combines continuous-time state observation and sampled-data control with a generalized, plant-dependent hold function. The feedback gains and the hold function are adaptively tuned.
10 citations
TL;DR: According to the present approach, the lower bounds on the feedback gains and joint stiffness coefficients that ensure global asymptotical stability can be reduced in comparison with previous studies.
5 citations
11 Dec 1996
TL;DR: In this paper, an indirect adaptive control strategy for possibly non-minimum phase systems but having poles in the closed left hand plane (LHP) is proposed. But the adaptive control is based on a control law for systems with amplitude-constrained inputs and does not require excitation of the system or projection of the parameter estimates into the admissible region.
Abstract: We propose an indirect adaptive control strategy for possibly nonminimum phase systems but having poles in the closed left hand plane (LHP). The adaptive control is based on a control law for systems with amplitude-constrained inputs. Several simulations performed on different second order systems show that the control scheme brings the state of the system to the origin using a control input with arbitrary bounds. The simulation results presented do not require excitation of the system or projection of the parameter estimates into the admissible region, however this may not be the general case. Extension of the proposed strategy to higher order systems is feasible. The approach based on excitation presents no particular problem to cover higher order systems, nevertheless the approach based on projecting the estimates into the admissible region becomes more complex as the order of the system increases.
3 citations