ROBUSTNESS OF ADAPTIVE-CONTROL OF ROBOTS

Authors
GHORBEL F SPONG MW
Citation
F. Ghorbel et Mw. Spong, ROBUSTNESS OF ADAPTIVE-CONTROL OF ROBOTS, Journal of intelligent & robotic systems, 10(2), 1994, pp. 209-215
Citations number
6
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
Journal title
Journal of intelligent & robotic systems → ACNP
ISSN journal
09210296
Volume
10
Issue
2
Year of publication
1994
Pages
209 - 215
Database
ISI
SICI code
0921-0296(1994)10:2<209:ROAOR>2.0.ZU;2-M
Abstract
In paper 'Robustness of Adaptive Control of Robots' by Ghorbel and Spo ng, the adaptive control of flexible joint robots is investigated usin g a singular perturbation approach and composite Lyapunov theory. In t his note, we correct a missing term from the boundary-layer system of that paper and then show that the stability analysis presented remains valid.