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Instability analysis and robust adaptive control of robotic manipulators

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

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:

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