Robust Adaptive Lyapunov-Based Robot Control

1994 ◽  
pp. 123-127
Author(s):  
V. Vesely ◽  
D. Kalas
Keyword(s):  
Robot Control ◽  
Robust Adaptive

Robot Control—Theory and Applications

IEE Review ◽  
1988 ◽  
Vol 34 (7) ◽  
pp. 280
Author(s):  
A.G. Blay
Keyword(s):  
Control Theory ◽  
Robot Control

Fuzzy adaptive Kalman filter for the drive system with an elastic coupling

2013 ◽  
Vol 62 (2) ◽  
pp. 251-265 ◽  
Author(s):  
Piotr J. Serkies ◽  
Krzysztof Szabat
Keyword(s):  
Kalman Filter ◽  
Control Structure ◽  
Experimental Tests ◽  
Drive System ◽  
Adaptive Kalman Filter ◽  
State Matrix ◽  
State Controller ◽  
Kalman Gain ◽  
Robust Adaptive ◽  
Fuzzy Adaptive

Abstract In the paper issues related to the design of a robust adaptive fuzzy estimator for a drive system with a flexible joint is presented. The proposed estimator ensures variable Kalman gain (based on the Mahalanobis distance) as well as the estimation of the system parameters (based on the fuzzy system). The obtained value of the time constant of the load machine is used to change the values in the system state matrix and to retune the parameters of the state controller. The proposed control structure (fuzzy Kalman filter and adaptive state controller) is investigated in simulation and experimental tests.

A Subspace-based Robust Adaptive Capon Beamforming

PIERS Online ◽  
2006 ◽  
Vol 2 (4) ◽  
pp. 374-379 ◽  
Author(s):  
Guisheng Liao ◽  
Hongqing Liu ◽  
Jun Li
Keyword(s):  
Robust Adaptive
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