Adaptive Techniques for Mechanical Systems

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Funder
Grant number
License
Copyright date
Distributor
Related resources
Contributor
Abstract

Strict Lyapunov functions are constructed for a class of nonlinear feedback compensated mechanical systems, requiring no à priori information concerning the initial conditions of the closed-looped system. These Lyapunov functions may be used to design a stable adaptive version of the "computed-torque" algorithm for tracking a reference trajectory. A particular Lyapunov function is then generalized to permit an adaptive version of control scheme forced by reference dynamics rather than reference trajectory.

Advisor
Date of presentation
1987-05-01
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T02:20:22.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Reprinted from Fifth Yale Workshop on Applications of Adaptive Systems Theory, May 1987, pages 259-265. 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.
Recommended citation
Collection