Adaptive Lyapunov-based control of a robot and mass-spring system undergoing an impact collision

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 38, Issue 4, 2008, Pages 1050-1061

  Dupree, Keith ^a   Liang, Chien Hao ^a   Hu, Guoqiang ^a,b   Dixon, Warren E ^a  

^a UNIVERSITY OF FLORIDA   (United States)

^b Kansas State University   (United States)

Author keywords

Adaptive control; Backstepping; Impact dynamics

Indexed keywords

ADAPTIVE SYSTEMS; CONTROL SYSTEMS; DIFFERENCE EQUATIONS; DYNAMIC PROGRAMMING; ENERGY CONVERSION; EQUATIONS OF MOTION; EQUATIONS OF STATE; HIGH ENERGY PHYSICS; MATHEMATICAL PROGRAMMING; NEURAL NETWORKS; REINFORCEMENT; REINFORCEMENT LEARNING; ROBOTICS; ROBOTS; SPRINGS (COMPONENTS); SYSTEMS ENGINEERING; TELECOMMUNICATION NETWORKS; VIBRATIONS (MECHANICAL);

ACCELERATION AND DECELERATION; ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; ASYMPTOTIC REGULATIONS; BACKSTEPPING; CONTACT STATES; CONTROL OBJECTIVE; DURATION EFFECTS; DYNAMIC SYSTEMS; FREE-MOTION; IMPACT COLLISION; IMPACT DYNAMICS; LOW ENERGIES; LYAPUNOV; LYAPUNOV-BASED CONTROL; MASS-SPRING SYSTEMS; NON-CONTACT; NON-LINEAR CONTROLLERS; PLANAR ROBOTS; PRACTICAL IMPORTANCE; ROBOT LINKS; SYSTEM DYNAMICS; SYSTEM PARAMETERS; UNACTUATED;

ADAPTIVE CONTROL SYSTEMS;

ALGORITHM; ARTICLE; COMPUTER SIMULATION; ELASTICITY; FEEDBACK SYSTEM; MECHANICAL STRESS; METHODOLOGY; ROBOTICS; SYSTEM ANALYSIS; SYSTEMS THEORY; THEORETICAL MODEL;

ALGORITHMS; COMPUTER SIMULATION; ELASTICITY; FEEDBACK; MODELS, THEORETICAL; PROGRAMMING, LINEAR; ROBOTICS; STRESS, MECHANICAL; SYSTEMS THEORY;

EID: 49049112645     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2008.923154     Document Type: Article

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