ROBUSTNESS OF ADAPTIVE-CONTROL OF ROBOTS

被引：8

作者：

GHORBEL, F

SPONG, MW

机构：

[1] Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, 61801, IL

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1992年 / 6卷 / 01期

关键词：

ADAPTIVE CONTROL; ROBUSTNESS; SINGULAR PERTURBATIONS; UNMODELLED DYNAMICS; PASSIVITY; SIGMA-MODIFICATION;

D O I：

10.1007/BF00314694

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper we discuss the robustness of adaptive control of rigid robots and methods for improving robustness in the face of unmodeled dynamics and external disturbances. Robustness to unmodeled dynamics is achieved using a so-called composite control strategy based on a singular perturbation formulation of the manipulator dynamics together with sigma-modificiation. Rigorous stability proofs are given using a composite Lyapunov function approach.

引用

页码：3 / 15

页数：13

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