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Robustness of adaptive control of robots

  • Robot and Process Control
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Abstract

In this paper we discuss the robustness of adaptive control of rigid robots and methods for improving robustness in the face of unmodeled dynamics and external disturbances. Robustness to unmodeled dynamics is achieved using a so-called composite control strategy based on a singular perturbation formulation of the manipulator dynamics together with σ-modificiation. Rigorous stability proofs are given using a composite Lyapunov function approach.

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Authors and Affiliations

  1. Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, 1101 W. Springfield Ave., 61801, Urbana, IL, USA

    Fathi Ghorbel & Mark W. Spong

Authors
  1. Fathi Ghorbel
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  2. Mark W. Spong
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Additional information

Research partially supported by the National Science Foundation under Grants INT-8902476 and MSM-9100618 and by the University of Illinois Manufacturing Research Center.

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Ghorbel, F., Spong, M.W. Robustness of adaptive control of robots. J Intell Robot Syst 6, 3–15 (1992). https://doi.org/10.1007/BF00314694

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  • DOI: https://doi.org/10.1007/BF00314694

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