Referenced Items are not available for this document.
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 instabilities are counteracted and robustness is guaranteed
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:5
,
Issue:
3
)
Date of Publication: Jun 1989
- Page(s):
- 381 - 386
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 3447305
- Digital Object Identifier :
- 10.1109/70.34776
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Jun 1989
- Sponsored by :
- IEEE Robotics and Automation Society
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