Adaptive control design using stability analysis and tracking errors dynamics for nonlinear square MIMO systems

2012 ◽  
Vol 25 (7) ◽  
pp. 1450-1459 ◽  
Author(s):  
Asma Atig ◽  
Fabrice Druaux ◽  
Dimitri Lefebvre ◽  
Kamel Abderrahim ◽  
Ridha Ben Abdennour
Keyword(s):  
Adaptive Control ◽  
Stability Analysis ◽  
Mimo Systems ◽  
Control Design ◽  
Tracking Errors

scholarly journals Adaptive Control Design and Stability Analysis of Robotic Manipulators

Actuators ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 89 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Stability Analysis ◽  
Motion Control ◽  
Force Control ◽  
Control Design ◽  
Robotic Manipulators ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Reference Adaptive

In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory. For the Lyapunov approach, the author presents the adaptive control of a 2-DOF (degrees of freedom) robotic manipulator. Furthermore, the adaptive control technique and Lyapunov theory are subsequently applied to the end-effector motion control and force control, as in most cases, one only considers the motion control (e.g., position control, trajectory tracking). To make the robot interact with humans or the environment, force control must be considered as well to achieve a safe working environment. For the hyperstability approach, a control system is developed through integrating a PID (proportional–integral–derivative) control system and a model reference adaptive control (MRAC) system, and also the convergent behavior and characteristics under the situation of the PID system, model reference adaptive control system, and PID+MRAC control system are compared.

scholarly journals Feedforward-feedback adaptive control design and stability analysis

1999 ◽  
Vol 32 (2) ◽  
pp. 4636-4641
Author(s):  
Youping Zhang ◽  
Prashant G. Mehta
Keyword(s):  
Adaptive Control ◽  
Stability Analysis ◽  
Control Design

scholarly journals Non-Recursive Adaptive Control Design Methodology for Nonlinear Systems With Mismatched Time-Varying Disturbances

2021 ◽  
Author(s):  
Xin Dong ◽  
Zhang Chuanlin ◽  
Chenggang Cui
Keyword(s):  
Adaptive Control ◽  
Stability Analysis ◽  
Nonlinear Systems ◽  
Sliding Mode ◽  
Design Procedure ◽  
Control Design ◽  
Original System ◽  
Time Varying ◽  
Transient Time ◽  
Control Scheme

Abstract This paper proposes a non-recursive adaptive control scheme for a class of lower-triangular nonlinear systems with mismatched time-varying disturbances. As a result, an exact tracking control scheme is constructed straightforwardly from the system in a novel non-recursive synthesis manner. Firstly, with the help of higher-order sliding mode observer (HOSMO), the original system is delicately transformed into an equivalent stabilizable system. Then, a non-recursive stabilizer with a simple update mechanism for the dynamic gain can be derived. Subsequently, a rigorous stability analysis shows the theoretical justification of the proposed design framework. New characteristics of the proposed algorithm are mainly twofold: 1) The proposed adaption mechanism could substantially adjust the transient-time performance with the presence of different levels of disturbances. 2) The composite control design procedure is essentially detached with stability analysis, which could largely facilitate practical implementations.

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