Adaptive robust model-following control and application to robot manipulators

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 109, Issue 3, 1987, Pages 209-215

  Chen, Y H ^a  

^a SYRACUSE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0001512476     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3143846     Document Type: Article

References (22)

1. Corless, M., and Leitmann, G., “Adaptive Control for Systems Containing Uncertain Functions and Unknown Functions with Uncertain Bounds,” J. Optim. Theory and Application, Vol. 41, 1983, p. 155.
2. Corless, M., and Leitmann, G., “Adaptive Control for Uncertain Dynamical Systems,” in: Blaquiere, A., and Leitmann, G., (eds.), Mathematical Theory of Dynamical Systems and Microphysics: Control Theory and Mechanics, Academic Press, New York, 1984.
3. Balestrino, A., De Maria, G., and Zinober, A. S. I., “Nonlinear Adaptive Model-Following Control,” Automatica, Vol. 5, 1984, p. 559.
4. Chen, Y. T., “Perfect Model Following with Real Model,” Proc. JACC, 1973, p. 287.
5. Goodwin, G. C., and Sin, K. S., Adaptive Filtering Prediction and Control, Prentice-Hall, Englewood Cliffs, 1984.
6. Shaked, U., “Design of General Model Following Control Systems,” Int. J. Control, Vol. 25, 1977, p. 213.
7. Young, K.-K. D., “Design of Variable Structure Model Following Control Systems,” IEEE Trans. Automat. Control, Vol. AC-23, 1978, p. 1079.
8. Chen, Y. H., “On the Deterministic Performance of Uncertain Dynamical Systems,” Int. J. Control, Vol. 43, 1986, p. 1557.
9. Singh, S. N., “Adaptive Model Following Control of Nonlinear Robotic Systems,” IEEE Trans. Automat. Control, Vol. AC-30, 1985, p. 1099.
10. Narendra, K. S., and Kudva, P., “Stable Adaptive Schemes for System Identification and Control-Part I,” IEEE Trans. System Man Cybernet, Vol. SMC-4, 1974, p. 542.
11. Gutman, S., “Uncertain Dynamical Systems-A Lyapunov Min-Max Approach,” IEEE Trans. Automat. Control, Vol. AC-24, 1979, p. 437.
12. Gutman, S., and Palmor, Z., “Properties of Min-Max Controllers in Uncertain Dynamical Systems,” SIAM J. Control and Optimization, Vol. 20, 1982, p. 850.
13. Slotine, J. J., and Sastry, S. S., “Tracking Control of Non-Linear Systems Using Sliding Surfaces With Application to Robot Manipulators,” Int. J. Control, Vol. 38, 1983, p. 465.
14. Corless, M., Goodall, D. P., Leitmann, G., and Ryan, E. P., “Model-Following Controls for a Class of Uncertain Dynamical Systems,” 7th IFAC Symposium on Identification and System Parameter Estimation, 1984.
15. Corless, M., Letimann, G., and Ryan, E. P., “Tracking in the Presence of Bounded Uncertainties,” Proc. Fourth International Conference on Control Theory, Cambridge University, 1984.
16. Ambrosino, G., Celentano, G., and Garofalo, F., “Robust Model Tracking Control for a Class of Nonlinear Plants,” IEEE Trans. Automat. Control, Vol. AC-30, 1984, p. 275.
17. Barmish, B. R., and Leitmann, G., “On Ultimate Boundedness Control of Uncertain Systems in the Absence of Matching Assumptions,” IEEE Trans. Autom. Control, Vol. AC-27, 1982, p. 153.
18. Chen, Y. H., “On the Robustness of Mismatched Uncertain Dynamical Systems,” ASME, J. Dynamic Systems, Measurement and Control, Vol. 109, 1987, p. 35.
19. Chen, Y. H., and Leitmann, G., “Robustness of Uncertain Systems in the Absence of Matching Assumptions,” Int. J. Control, Vol. 45, 1987, p. 1527.
20. Krasovskii, N. N., Stability of Motion, Stanford University Press, Stanford, 1963.
21. Coddington, E. A., and Levinson, N., Theory of Ordinary Differential Equations, McGraw-Hill, New York, 1955.
22. Hale, J. K., Ordinary Differential Equations, Krieger, Huntington, 1980.