Implementation of adaptive hyperplanes for the determination of robust control

DOI10.1023/A:1007952315886MaRDI QIDQ1357882zbMATH OpenFDO

Authors Régis Canart, Pierre Borne

Publication date 3 December 1997

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/A:1007952315886

zbMATH Keywords

discrete-timeleast squares approachlinear approximationnonlinear

Mathematics Subject Classification ID

Linearizations (93B18) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper is concerned with the control of uncertain, nonlinear, discrete-time input-output systems. The linear approximation approach is assumed added with extra correction terms intended to tune the linear model to the results of some measurements. A quadratic performance index is used in order to compute the control signal. In my opinion this is an extremely poor paper which under a mess of mathematical notations brings in few void ideas and has no robotic significance whatsoever. In particular, contrary to what has been announced, the paper neither treats the case of time-varying systems, nor addresses any robust control problem. Basic expressions, like (13) and (36-40), including the derivation of the control algorithm, are wrong. The authors apparently have difficulties with differentiation of quadratic functions. Two robotic examples are likely intended to serve as an excuse of submitting this paper to a robotic journal. It is stated that this paper was accepted in final form within two weeks from its submission, i.e., it has hardly been reviewed at all.

Recommendations

• Adaptive regulators for the control of an uncertain linear discrete-time system with a reference model
• scientific article; zbMATH DE number 1100446
• On the robustness of discrete-time indirect adaptive (linear) controllers
• scientific article; zbMATH DE number 88920

Cited in

(3)

• Adaptive hinging hyperplanes and its applications in dynamic system identification
• A note on the ``Task-space control of robots using an adaptive Taylor series uncertainty estimator
• Robust hyperplane synthesis for sliding mode control systems via sensitivity minimization

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