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

DOI10.1109/TAC.2006.890381MaRDI QIDQ5282052zbMATH OpenFDO

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)

Full work available at URL https://doi.org/10.1109/TAC.2006.890381

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
• Multivariable adaptive control with unknown signs of the high-frequency gain matrix using novel Nussbaum functions
• Lyapunov design of multivariable MRAC via generalized passivation
• Passivity-based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators
• 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
• An output-feedback adaptive actuator failure compensation controller for systems with unknown state delays
• Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
• Adaptive fuzzy controller for multivariable nonlinear state time-varying delay systems subject to input nonlinearities
• Singularity-free adaptive control of MIMO discrete-time nonlinear systems with general vector relative degrees
• Design of a fuzzy adaptive controller for MIMO nonlinear time-delay systems with unknown actuator nonlinearities and unknown control direction
• Nonlinear PI robust adaptive control for uncertain multiple-input multiple-output nonlinear systems: application to the visual servoing problem
• Variable-structure backstepping controller for multivariable nonlinear systems with actuator nonlinearities based on adaptive fuzzy system
• Fuzzy adaptive controller for MIMO nonlinear systems with known and unknown control direction

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