Journal article
Simple adaptive control for a class of non-linear systems with application to robotics
International journal of control, v 52(1), pp 77-99
01 Jul 1990
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Simple adaptive control techniques have recently been developed for continuous stationary and non-stationary linear systems, based on the fact that the output stabilizability property of systems can be used to realize 'almost passive' configurations that may facilitate the implementation of simple robust adaptive controllers. This paper extends these concepts to a class of non-linear systems that are linear in the control; this includes manipulators and similar systems. Since it has recently been shown that non-linear systems that can be stabilized via static or dynamic output feedback become 'almost passive' via some corresponding parallel feedforward, a rigorous proof of the robust stability of the simple adaptive control of non-stationary almost passive systems is presented
Metrics
Details
- Title
- Simple adaptive control for a class of non-linear systems with application to robotics
- Creators
- IZHAK BAR-KANA - Drexel UniversityALLON Guez - Drexel University
- Publication Details
- International journal of control, v 52(1), pp 77-99
- Publisher
- Taylor & Francis Group
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Web of Science ID
- WOS:A1990DM64000005
- Scopus ID
- 2-s2.0-0025464215
- Other Identifier
- 991019173728504721
UN Sustainable Development Goals (SDGs)
This publication has contributed to the advancement of the following goals:
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems