Dynamically Scaled Immersion and Invariance Adaptive Control for Euler–Lagrange Mechanical Systems

This paper addresses adaptive control of specific Euler–Lagrange systems: rigid-body attitude control and the n-link robot manipulator. For each problem, the model parameters are unknown but the lo...

[1]  Alessandro Astolfi,et al.  Dynamic scaling and observer design with application to adaptive control , 2009, Autom..

[2]  Romeo Ortega,et al.  On adaptive control of nonlinearly parameterized nonlinear systems: Towards a constructive procedure , 2011, Syst. Control. Lett..

[3]  Alessandro Astolfi,et al.  Two solutions to the adaptive visual servoing problem , 2001, IEEE Trans. Robotics Autom..

[4]  Alessandro Astolfi,et al.  Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems , 2001, IEEE Trans. Autom. Control..

[5]  Roberto Horowitz,et al.  Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators , 1990, Int. J. Robotics Res..

[6]  Darren M. Dawson,et al.  Quaternion-Based Adaptive Attitude Tracking Controller Without Velocity Measurements , 2001 .

[7]  Maruthi R. Akella,et al.  High-Performance Spacecraft Adaptive Attitude-Tracking Control Through Attracting-Manifold Design , 2008 .

[8]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[9]  Sahjendra N. Singh,et al.  Multi-Input Noncertainty-Equivalent Adaptive Control of an Aeroelastic System , 2010 .

[10]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[11]  Romeo Ortega,et al.  Dynamic Control of Uncertain Manipulators Through Immersion and Invariance Adaptive Visual Servoing , 2006, Int. J. Robotics Res..

[12]  John L. Junkins,et al.  Adaptive Control of Nonlinear Attitude Motions Realizing Linear Closed Loop Dynamics , 2001 .

[13]  Maruthi R. Akella,et al.  Non-certainty equivalent adaptive control for robot manipulator systems , 2009, Syst. Control. Lett..

[14]  Karl Johan Åström,et al.  Theory and applications of adaptive control - A survey , 1983, Autom..

[15]  Alessandro Astolfi,et al.  Two results for adaptive output feedback stabilization of nonlinear systems , 2003, Autom..

[16]  Rush D. Robinett,et al.  Nonlinear Adaptive Control of Spacecraft Maneuvers , 1997 .

[17]  Alessandro Astolfi,et al.  Immersion and invariance adaptive control of linear multivariable systems , 2003, Syst. Control. Lett..

[18]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.