O. Egeland et Jm. Godhavn, A NOTE ON LYAPUNOV STABILITY FOR AN ADAPTIVE ROBUT CONTROLLER, IEEE transactions on automatic control, 39(8), 1994, pp. 1671-1673
Citations number
5
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Stability in the sense of Lyapunov for the adaptive robot controller p
roposed by Slotine and Li is proved in this note. The result is a gene
ralization of previous work, where the feedback gain matrix was assume
d to be constant and diagonal, while in this paper the feedback gain m
atrix is only assumed to be uniformly positive definite.