Lyapunov/Passivity-Based Adaptive Control of Relative Degree Two MIMO Systems With an Application to Visual Servoing

DOI10.1109/TAC.2006.890381zbMATH Open1366.93291MaRDI QIDQ5282052FDOQ5282052

Authors: L. Hsu, Fernando Lizarralde, Ramon R. Costa 

Publication date: 27 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Adaptive or robust stabilization (93D21) Channel models (including quantum) in information and communication theory (94A40)

Cited In (14)

• A novel approach to stable zero dynamics of sampled-data models for nonlinear systems in backward triangle sample and hold case
• Adaptive fuzzy controller for multivariable nonlinear state time-varying delay systems subject to input nonlinearities
• Design of a fuzzy adaptive controller for MIMO nonlinear time-delay systems with unknown actuator nonlinearities and unknown control direction
• Lyapunov design of multivariable MRAC via generalized passivation
• Fuzzy adaptive controller for MIMO nonlinear systems with known and unknown control direction
• An output-feedback adaptive actuator failure compensation controller for systems with unknown state delays
• Overcoming limitations of uncalibrated robotics visual servoing by means of sliding mode control and switching monitoring scheme
• Adaptive robust image-based visual servoing control of robot with unknown actuator hysteresis
• Passivity-based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators
• Multivariable adaptive control with unknown signs of the high-frequency gain matrix using novel Nussbaum functions
• Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
• Variable-structure backstepping controller for multivariable nonlinear systems with actuator nonlinearities based on adaptive fuzzy system
• Nonlinear PI robust adaptive control for uncertain multiple-input multiple-output nonlinear systems: application to the visual servoing problem
• Singularity-free adaptive control of MIMO discrete-time nonlinear systems with general vector relative degrees

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