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

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.

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Date Posted: 06 June 2008

This document has been peer reviewed.