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Instability analysis and robust adaptive control of robotic manipulators

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2 Author(s)
Reed, J.S. ; Hughes Aircraft Co., Los Angeles, CA, USA ; Ioannou, P.A.

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

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Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 3 )