Lyapunov/passivity-based adaptive control of relative degree two MIMO systems with an application to visual servoing

IEEE Transactions on Automatic Control

Volumn 52, Issue 2, 2007, Pages 364-371

  Hsu, Liu ^a   Costa, Ramon R ^a   Lizarralde, Fernando ^a  

^a FEDERAL UNIVERSITY OF RIO DE JANEIRO   (Brazil)

Author keywords

Adaptive control; Lyapunov based design; Matrix gain factorization; Multivariable systems; Passivity

Indexed keywords

DATA COMMUNICATION SYSTEMS; FACTORIZATION; LYAPUNOV FUNCTIONS; MANIPULATORS; MULTIVARIABLE CONTROL SYSTEMS; ROBOTS;

MATRIX GAIN FACTORIZATION; MULTIPLE-INPUT MULTIPLE-OUTPUT (MIMO) SYSTEMS; RELATIVE DEGREE; SINGLE-INPUT SINGLE OUTPUT (SISO) PLANTS;

ADAPTIVE CONTROL SYSTEMS;

EID: 33947375189     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2006.890381     Document Type: Article

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