Stability analysis of an adaptive controller for robotic manipulators

@article{Sadegh1987StabilityAO,
  title={Stability analysis of an adaptive controller for robotic manipulators},
  author={Nader Sadegh and Roberto Horowitz},
  journal={Proceedings. 1987 IEEE International Conference on Robotics and Automation},
  year={1987},
  volume={4},
  pages={1223-1229}
}
The stability analysis of an adaptive control scheme for robotic manipulators, originally introduced by Horowitz and Tomizuka (1980), is presented in this paper. In the previous stability proof it was assumed that the manipulator parameter variation is negligible compared with the speed of adaptation. It is shown that this key assumption can be removed by introducing two modifications in the adaptive control scheme: 1. Reparametrizing the nonlinear terms in dynamic equations as linear functions… CONTINUE READING

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