ROBUSTNESS ANALYSIS OF THE MULTI-GRADE ADAPTIVE CONTROLLER OF A ROBOT

HAN Junwei, YIN Chaowan, LI Hongren. ROBUSTNESS ANALYSIS OF THE MULTI-GRADE ADAPTIVE CONTROLLER OF A ROBOT[J]. ROBOT, 1993, 15(2): 34-41.

Citation:

HAN Junwei, YIN Chaowan, LI Hongren. ROBUSTNESS ANALYSIS OF THE MULTI-GRADE ADAPTIVE CONTROLLER OF A ROBOT[J]. ROBOT, 1993, 15(2): 34-41.

Citation:

HAN Junwei, YIN Chaowan, LI Hongren. ROBUSTNESS ANALYSIS OF THE MULTI-GRADE ADAPTIVE CONTROLLER OF A ROBOT[J]. 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.

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