Departmental Papers (ESE)
Abstract
Earlier results of this author and others demonstrate that a broad range of robotic tasks can be commanded through relatively simple feedback controllers with a guarantee of global asymptotic stability. A weakness of such methods is the requirement that exact values of all dynamical parameters be available, since they are used to cancel the disturbance torques introduced by gravity. An adaptive strategy is reported here which guarantees stability and global boundedness of a natural controller in the absence of à priori information regarding dynamical parameters. The present results, however, are not yet satisfactory since they cannot assure convergence to the correct spatial position.
Document Type
Conference Paper
Subject Area
GRASP, Kodlab
Date of this Version
December 1985
Date Posted: 06 June 2008
This document has been peer reviewed.
Comments
Copyright 1985 IEEE. Reprinted from Proceedings of the 24th IEEE Conference on Decision and Control, Volume 24, Part 1, 1985, pages 1405-1409.
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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.