scientific article; zbMATH DE number 16825
[For the entire collection see Zbl 0723.00051.] The paper resembles tutorial on ``simple adaptive controllers (described by examples rather than formally defined) and summarizes a series of early papers by the first author. Based on the concept of ``almost strict passivity, a number of structures for the closed loop system is considered and some basic results are recalled. The model following problem is considered for nonlinear systems: an adaptive control algorithm is proposed and the closed loop system stability is proved under the assumption that all variables involved in the adaptation scheme (states, errors and gains) are bounded for any bounded command inputs, input and output disturbances. An adaptive and robust controller is then synthesized for the case of robot manipulators.
- Simple adaptive control for a class of non-linear systems with application to robotics
- Adaptive motion control of rigid robots: A tutorial
- Adaptive Robust Model-Following Control and Application to Robot Manipulators
- New class of control laws for robotic manipulators Part 2. Adaptive case
- scientific article; zbMATH DE number 724736
- Positive-realness in multivariable stationary linear systems
- Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators
- Simple adaptive control for a class of non-linear systems with application to robotics
- Comments on ‘An adaptive control scheme for robot manipulators’
- scientific article; zbMATH DE number 1290257 (Why is no real title available?)
- Adaptive motion control of rigid robots: A tutorial
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