Robustness of adaptive control of robots

DOI10.1007/BF00314694MaRDI QIDQ1206470zbMATH OpenFDO

Authors Fathi Ghorbel, Mark W. Spong

Publication date 1 April 1993

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

Full work available at URL http://infoscience.epfl.ch/record/28149

zbMATH Keywords

composite Lyapunov functionexternal disturbancesunmodeled dynamics

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15)

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Cites work

• A robust direct adaptive controller
• Adaptive computed torque control for rigid link manipulations
• Adaptive control of flexible joint manipulators
• Adaptive regulation of nonlinear systems with unmodeled dynamics
• Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li
• Instability analysis and improvement of robustness of adaptive control
• Integral manifolds of slow adaptation
• Modeling and Control of Elastic Joint Robots
• New class of control laws for robotic manipulators Part 2. Adaptive case
• Nonlinear Response of Flexible Robotic Manipulators Performing Repetitive Tasks
• Quadratic-type Lyapunov functions for singularly perturbed systems
• Robustness of continuous-time adaptive control algorithms in the presence of unmodeled dynamics

Cited in

(18)

• An addendum on Robust control of robots by the computed torque method
• Correction to `Robustness of adaptive control of robots' by F. Ghorbel and M. W. Spong
• Adaptive control of flexible joint manipulators: Comments on two papers
• Robustness of time-scale learning of robot motions to uncertainty in acquired knowledge
• Robust Control of Robots
• scientific article; zbMATH DE number 4181233 (Why is no real title available?)
• scientific article; zbMATH DE number 5079751 (Why is no real title available?)
• Adaptive robust control of fully constrained cable robots: singular perturbation approach
• scientific article; zbMATH DE number 4145781 (Why is no real title available?)
• scientific article; zbMATH DE number 3978942 (Why is no real title available?)
• scientific article; zbMATH DE number 4061100 (Why is no real title available?)
• scientific article; zbMATH DE number 18055 (Why is no real title available?)
• scientific article; zbMATH DE number 45555 (Why is no real title available?)
• scientific article; zbMATH DE number 88921 (Why is no real title available?)
• Robust binary control of robotic systems
• Robot control for robust stability with finite reachability time in the whole
• Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation
• Robust adaptive control for robot manipulators

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