Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators

DOI10.1002/acs.4480030104zbMath0733.93038OpenAlexW2096412386MaRDI QIDQ3360743

Roberto Horowitz, Ioan Doré Landau

Publication date: 1989

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.4480030104

zbMATH Keywords

Lyapunov functionsrobot manipulatorsharmonic linearization methodfixed adaptive controllers

Mathematics Subject Classification ID

Lyapunov and storage functions (93D30) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Stability for nonlinear problems in mechanics (70K20) Control of mechanical systems (70Q05)

Related Items (4)

Adaptive control of flexible manipulators carrying large uncertain payloads ⋮ Global tracking controllers for flexible-joint manipulators: A comparative study ⋮ Nonlinear adaptive control of feedback passive systems ⋮ Adaptive motion control of rigid robots: A tutorial

Cites Work

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• Adaptive systems with reduced models
• The Application of Model-Referenced Adaptive Control to Robotic Manipulators

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