Journal ArticleDOI
A Model Referenced Parameter Tracking Technique for Adaptive Control Systems II-Stability Analysis by the Second Method of Lyapunov
Dale D. Donalson,C. T. Leondes +1 more
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The purpose of this paper is to develop stability analysis results for the type of adaptive control systems described in a companion paper, which are in general nonautonomous since the inputs may be arbitrary functions of time.Abstract:
The purpose of this paper is to develop stability analysis results for the type of adaptive control systems described in a companion paper.1 By their very nature, such systems are in general nonautonomous since the inputs may be arbitrary functions of time. The Second Method of Lyapunov supplies the principal tools for this stability analysis, while fairly general techniques are presented for generating the required Lyapunov functions for these systems. Although the analysis is carried out in detail for certain specific types of inputs, it is applicable to other types as well.read more
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Journal ArticleDOI
Control of a Flexible Robot Arm: Experimental and Theoretical Results
N. G. Chalhoub,Ali Galip. Ulsoy +1 more
TL;DR: In this paper, a rigid and flexible motion controller is derived to introduce additional damping into the flexible motion by using additional sensors to measure the compliant link vibrations and feed them back to the controller.
Journal ArticleDOI
A Model Referenced Parameter Tracking Technique for Adaptive Control Systems I-The Principle of Adaptation
Dale D. Donalson,C. T. Leondes +1 more
TL;DR: The purpose of this paper is to develop a fairly general approach to adaptive control systems which, at the same time, can be mechanized in a reasonable fashion.
Proceedings ArticleDOI
Evaluation of three model reference adaptive control algorithms for robotic manipulators
TL;DR: This paper evaluates three model reference adaptive control schemes for completing a telerobotic task and shows the robustness of the computed-torque method when compared to the independent joint schemes.
Journal ArticleDOI
Paper: State-of-the-art and prospects of adaptive systems
A. A. Voronov,V. Yu. Rutkovsky +1 more
TL;DR: The paper attempts to review methods of design analysis and synthesis of adaptive systems (AS).
References
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Journal ArticleDOI
A Model Referenced Parameter Tracking Technique for Adaptive Control Systems I-The Principle of Adaptation
Dale D. Donalson,C. T. Leondes +1 more
TL;DR: The purpose of this paper is to develop a fairly general approach to adaptive control systems which, at the same time, can be mechanized in a reasonable fashion.