An SVD based modification of the adaptive inverse dynamics controller

Proceedings - 2009 5th International Symposium on Applied Computational Intelligence and Informatics, SACI 2009

Volumn , Issue , 2009, Pages 193-198

  Tar, J K ^a   Bito J F ^a   Rudas, I J ^a   Preitl, S ^b   Precup, Radu Emil ^b  

^a BUDAPEST UNIVERSITY OF TECHNOLOGY AND ECONOMICS   (Hungary)

^b WEST UNIVERSITY OF TIMISOARA   (Romania)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE INVERSE; ADAPTIVE ROBOT CONTROLLER; CONTROL PARAMETERS; CONTROL PROCESS; CONTROLLED SYSTEM; CRITICAL STEPS; INERTIA MATRIX; LYAPUNOV; MECHANICAL SYSTEMS; NUMERICAL EXAMPLE; PARAMETER-TUNING; ROBOT CONTROLS; TRAJECTORY TRACKING;

ARTIFICIAL INTELLIGENCE; CONTROL SYSTEM ANALYSIS; EQUATIONS OF MOTION; INTELLIGENT ROBOTS; LARGE SCALE SYSTEMS; LYAPUNOV FUNCTIONS; MECHANICS;

CONTROLLERS;

EID: 70350247564     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/SACI.2009.5136240     Document Type: Conference Paper

References (6)

1. Jean-Jacques E. Slotine, W. Li, Applied Nonlinear Control, Prentice Hall International, Inc., Englewood Cliffs, New Jersey 1991.
2. A.M. Lyapunov: "A general task about the stability of motion" (in Russian), PhD Thesis, 1892.
3. A.M. Lyapunov: "Stability of motion", Academic Press, New-York and London, 1966.
4. G.W. Stewart: "On the early history of singular value decomposition", Technical Report TR-92-31, Institute for Advanced Computer Studies, University of Mariland, March 1992.
5. G.H. Golub and W. Kahan: "Calculating the singular values and pseudoinverse of a matrix", SIAM Journal on Numerical Analysis, Vol. 2, 1965, pp. 205-224.
6. J.K. Tar, I.J. Rudas, Gy. Hermann, J.F. Bitó, J.A. Tenreiro Machado: "On the Robustness of the Slotine-Li and the FPT/SVD-based Adaptive Controllers", WSEAS Transactions on Systems and Control, Issue 9, Volume 3, September 2008, pp. 686-700.