Desired compensation adaptive robust control

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

Volumn 131, Issue 6, 2009, Pages 1-7

  Yao, Bin ^a   Kuang Piu, ^b  

^a PURDUE UNIVERSITY   (United States)

^b ZHEJIANG UNIVERSITY   (China)

Author keywords

Adaptive control; Backstepping; Desired compensation; Deterministic robust control; Nonlinear systems; Slidingmode control; Uncertainties

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE MODELS; ADAPTIVE ROBUST CONTROL; BACKSTEPPING DESIGN; CONTROLLER GAIN; DESIRED COMPENSATION; DETERMINISTIC ROBUST CONTROL; EFFECT OF MEASUREMENTS; EXPERIMENTAL STUDIES; HIGHER ORDER; INTERMEDIATE STATE; MATCHED MODELS; NON-LINEARITY; NORMAL FORM; ON-LINE PARAMETER; OUTPUT TRAJECTORY; OUTPUT-TRACKING; PARAMETER ADAPTATION; PARAMETRIC UNCERTAINTIES; SPEED-UPS; TRACKING PERFORMANCE; TRANSIENT RESPONSE; UNCERTAINTIES; UNIQUE FEATURES; UNMATCHED MODEL;

BACKSTEPPING; CONTROL NONLINEARITIES; NONLINEAR SYSTEMS; ROBUST CONTROL; SYSTEM STABILITY; TRAJECTORIES; UNCERTAINTY ANALYSIS;

ADAPTIVE CONTROL SYSTEMS;

EID: 77951200431     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3211087     Document Type: Article

References (25)

1. Krstic, M., Kanellakopoulos, I., and Kokotovic, P. V., 1995, Nonlinear and Adaptive Control Design, Wiley, New York.
2. Marino, R., and Tomei, P., 1995, Nonlinear Control Design: Geometric, Adaptive, and Robust, Prentice-Hall, London.
3. Yao, B., and Tomizuka, M., 1995, "Adaptive Control of Robot Manipulators in Constrained Motion-Controller Design," ASME J. Dyn. Syst., Meas., Control, 117(3), pp. 320-328.
4. Ioannou, P. A., and Sun, J., 1996, Robust Adaptive Control, Prentice-Hall, Englewood Cliffs, NJ.
5. Utkin, V. I., 1992, Sliding Modes in Control Optimization, Springer-Verlag, Berlin.
6. Corless, M. J., and Leitmann, G., 1981, "Continuous State Feedback Guaranteeing Uniform Ultimate Boundedness for Uncertain Dynamic Systems," IEEE Trans. Autom. Control, 26(5), pp. 1139-1144.
7. Qu, Z., and Dorsey, J. F., 1991, "Robust Control of Generalized Dynamic Systems Without Matching Conditions," ASME J. Dyn. Syst., Meas., Control, 113, pp. 582-589.
8. Hedrick, J. K., and Yip, P. P., 2000, "Multiple Sliding Surface Control: Theory and Application," ASME J. Dyn. Syst., Meas., Control, 122(4), pp. 586-593.
9. Polycarpou, M. M., and Ioannou, P. A., 1993, "A Robust Adaptive Nonlinear Control Design," Proceedings of the American Control Conference, pp. 1365-1369.
10. Freeman, R. A., Krstic, M., and Kokotovic, P. V., 1998, "Robustness of Adaptive Nonlinear Control to Bounded Uncertainties," Automatica, 34(10), pp. 1227-1230.
11. Ikhouane, F., and Krstic, M., 1998, "Adaptive Backstepping With Parameter Projection: Robustness and Asymptotic Performance," Automatica, 34(4), pp.429-435.
12. Yao, B., and Tomizuka, M., 1996, "Smooth Robust Adaptive Sliding Mode Control of Robot Manipulators With Guaranteed Transient Performance," ASME J. Dyn. Syst., Meas., Control, 118(4), pp. 764-775.
13. Yao, B., and Tomizuka, M., 1997, "Adaptive Robust Control of SISO Nonlinear Systems in a Semi-Strict Feedback Form," Automatica, 33(5), pp. 893-900.
14. Yao, B., and Tomizuka, M., 2001, "Adaptive Robust Control of MIMO Nonlinear Systems in Semi-Strict Feedback Forms," Automatica, 37(9), pp. 1305-1321.
15. Yao, B., 1997, "High Performance Adaptive Robust Control of Nonlinear Systems: A General Framework and New Schemes," Proceedings of the IEEE Conference on Decision and Control, San Diego, CA, pp. 2489-2494.
16. Yao, B., and Tomizuka, M., "Comparative Experiments of Robust and Adaptive Control With New Robust Adaptive Controllers for Robot Manipulators," Proceedings of the IEEE Conference on Decision and Control, Orlando, CA, pp. 1290-1295, 1994.
17. Yao, B., Al-Majed, M., and Tomizuka, M., 1997, "High Performance Robust Motion Control of Machine Tools: An Adaptive Robust Control Approach and Comparative Experiments," IEEE/ASME Trans. Mechatron., 2(2), pp. 63-76.
18. Xu, L., and Yao, B., 2001, "Adaptive Robust Precision Motion Control of Linear Motors With Negligible Electrical Dynamics: Theory and Experiments," IEEE/ASME Trans. Mechatron., 6(4), pp. 444-452.
19. Yao, B., Bu, F., Reedy, J., and Chiu, G. T.-C., 2000, "Adaptive Robust Control of Single-Rod Hydraulic Actuators: Theory and Experiments," IEEE/ASME Trans. Mechatron., 5(1), pp. 79-91.
20. Yao, B., and Tomizuka, M., 1998, "Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Compliant Surfaces With Unknown Stiffness," ASME J. Dyn. Syst., Meas., Control, 120(2), pp. 232-240.
21. Reed, J. S., and Ioannou, P. A., 1989, "Instability Analysis and Robust Adaptive Control of Robotic Manipulators," IEEE Trans. Rob. Autom., 5(3), pp. 381-386.
22. Sadegh, N., and Horowitz, R., 1990, " Stability and Robustness Analysis of a Class of Adaptive Controllers for Robot Manipulators," Int. J. Robot. Res., 9(3), pp. 74-92.
23. Yao, B., and Tomizuka, M., 1994, "Robust Desired Compensation Adaptive Control of Robot Manipulators With Guaranteed Transient Performance," Proceedings of the IEEE Conference on Robotics and Automation, San Diego, CA, pp. 1830-1836.
24. Hong, Y., and Yao, B., 2007, "A Globally Stable Saturated Desired Compensation Adaptive Robust Control for Linear Motor Systems With Comparative Experiments," Automatica, 43(10), pp. 1840-1848.
25. Bu, F., and Yao, B., 2001, "Desired Compensation Adaptive Robust Control of Single-Rod Electro-Hydraulic Actuator," American Control Conference, Arlington, TX, pp. 3926-3931.