Immersion and invariance adaptive tracking control for robot manipulators with a novel modified scaling factor design

DOI10.1002/ACS.3072zbMath1451.93259OpenAlexW2985387381WikidataQ126806475 ScholiaQ126806475MaRDI QIDQ5128881

Haowei Wen, Xiaokui Yue, Dongdong Xia, Lin Li

Publication date: 26 October 2020

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.3072

zbMATH Keywords

adaptive tracking controllerimmersion and invariancedynamic scalinginertia uncertaintiesmodified scaling factor

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Related Items (3)

Unmodeled dynamics suppressed adaptive fault tolerant control for a class of space robots with actuator saturation and faults ⋮ Dynamic scaling‐based adaptive control without scaling factor: With application to Euler–Lagrange systems ⋮ Output feedback tracking control for rigid body attitude via immersion and invariance angular velocity observers

Cites Work

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• Persistency of excitation in continuous-time systems
• Two results for adaptive output feedback stabilization of nonlinear systems
• Nonlinear and adaptive control with applications
• Non-certainty equivalent adaptive control for lower triangular systems based on dynamic scaling and filter
• Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems

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