The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators
Abstract
The stability and robustness properties of the adaptive control scheme proposed by Sadegh and Horowitz (1987) are stud ied. The properties include the global exponential stability and L p input/output stability of the nonadaptive (i.e., fixed- parameter) control system and the global asymptotic stability of the adaptive control scheme. Sufficient conditions for the convergence of the estimated parameters to their true values are also given. A computationally efficient adaptation scheme that is a modified version of the original scheme is proposed. The modified scheme utilizes the desired trajectory outputs, which can be calculated a priori, instead of the actual joint outputs in the parameter adaptation algorithm and the non linearity compensation controller. Sufficient conditions for guaranteeing all the stability properties of the original scheme in the modified scheme are also explicitly derived. A com puter simulation study of the performance of both schemes in the presence of noise disturbances is conducted.
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Cites
Feedback Systems: Input-Output Properties
Desoer, C. A., Vidyasagar, M., & Willson, A. N. (1975) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426967 · Cited by 3,225
Proceedings of the 1999 American Control Conference
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On the Adaptive Control of Robot Manipulators
Slotine, J.-J. E., & Li, W. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600303 · Cited by 2,284
Proceedings. 1988 IEEE International Conference on Robotics and Automation
(1988) · doi:10.1109/robot.1988 · Cited by 984
1985 IEEE conference on decision and control
(1985) · IEEE Control Systems Magazine · doi:10.1109/mcs.1985.1104966 · Cited by 962
Feedback systems: Input-output properties
Elliott, D. L. (1976) · Proceedings of the IEEE · doi:10.1109/proc.1976.10085 · Cited by 835
Model reference adaptive control algorithms for industrial robots
Nicosia, S., & Tomei, P. (1984) · Automatica · doi:10.1016/0005-1098(84)90013-x · Cited by 201
Cited by
Active disturbance rejection control for robotic systems: A review
Fareh, R., Khadraoui, S., Abdallah, M. Y., Baziyad, M., & Bettayeb, M. (2021) · Mechatronics · doi:10.1016/j.mechatronics.2021.102671 · Cited by 192
Yao, J., Deng, W., & Sun, W. (2017) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2017.2688353 · Cited by 124
Yang, G., & Yao, J. (2020) · ISA Transactions · doi:10.1016/j.isatra.2020.03.029 · Cited by 51
Metadata
- Authors
- Sadegh, N., & Horowitz, R.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1990-06
- Volume
- 9
- Issue
- 3
- Pages
- 74-92
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2157577511
- Cited by
- 508
- References
- 7
- FWCI
- 40.65
- Type
- journal article
- Language
- en
- Open access
- closed
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- Sadegh, N., & Horowitz, R. (1990). Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators. The International Journal of Robotics Research. https://doi.org/10.1177/027836499000900305
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