韩俊伟, 尹朝万, 李洪人. 机器人多级自适应控制器鲁棒性分析[J]. 机器人, 1993, 15(2): 34-41..
HAN Junwei, YIN Chaowan, LI Hongren. ROBUSTNESS ANALYSIS OF THE MULTI-GRADE ADAPTIVE CONTROLLER OF A ROBOT. ROBOT, 1993, 15(2): 34-41..
Abstract:The paper analyses robustness of the multi-grade adaptive controller of a robot.the controller is just thesame as that considered by Han(1992),but contains interconnected terms and unmodeled characteristics.The σ-modification is introduced to stabilize the system and prevent the output from infiniteness.
[1] Han J. W. et al(1992),Desing of stable adaptive controller for an electrohydraulic system, Model, Measurement and Control B, 1992, 43(3):39-45
[2] 韩俊伟,尹朝万,李洪人.机器人多级自适应控制器的设计与数字仿真.机器人,1992,14 (6),10-14
[3] Ioannou P A, P V Kokotovic. Adaptivt system with reduced-order models. New York, Springer Vrelag, 1983
[4] Ioannou P A, P V Kokotovic. Instability analysis and improvement of robustness of adaptive control, Automatics, 1984,20-50
[5] Narendra K S, L S Valavani, Stable adaptive controller design-direct control. IEEE Trans. on Autom. Contr, 1978, 23
[6] Narendra K. S. et al, Stable adaptive controller design, Part II:Proof of Stability, IEEE Trans. on Autom. Contr,1980; AC-25(4)
[7] Narendra K S. Adaptive control theory, The Last Five Years, IEEE Trans.,1985