A NOTE ON LYAPUNOV STABILITY FOR AN ADAPTIVE ROBUT CONTROLLER

Authors
EGELAND O GODHAVN JM
Citation
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
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
39
Issue
8
Year of publication
1994
Pages
1671 - 1673
Database
ISI
SICI code
0018-9286(1994)39:8<1671:ANOLSF>2.0.ZU;2-E
Abstract
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.