2002
DOI: 10.1109/tac.2002.800672
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Adaptive control of robots with an improved transient performance

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Cited by 37 publications
(38 citation statements)
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“…There has been great deal of efforts to modify the control architecture and the adaptive laws from the perspective of improving the transient behavior of the tracking error. The majority of these efforts led to high gain linear nonadaptive feedback [3], [4], [12], switching control law [8], [9] or to a parameter dependent persistent excitation condition [1].…”
Section: Introductionmentioning
confidence: 99%
“…There has been great deal of efforts to modify the control architecture and the adaptive laws from the perspective of improving the transient behavior of the tracking error. The majority of these efforts led to high gain linear nonadaptive feedback [3], [4], [12], switching control law [8], [9] or to a parameter dependent persistent excitation condition [1].…”
Section: Introductionmentioning
confidence: 99%
“…It is known that the matrix Mðt 1 Þ in (30) is non-singular if the set of the component functions of c u ðtÞ is linearly independent within ½0; t 1 [13]. Although such a condition cannot be verified a priori, nevertheless, it is still likely to hold during the transient [7,8].…”
Section: Proofmentioning
confidence: 99%
“…However, there are many practical applications whose commanded trajectories do not fall into such a class. By using structures different from conventional designs, it is noted that parameter convergence has been achieved on a weaker PE condition in various designs [7,8]. For the dealing single input/ single output fully linearizable systems, it is found that the filtering of the regressor, required for realizing the update algorithm in Reference [7], can be avoided by incorporating the technique in Reference [9].…”
Section: Introductionmentioning
confidence: 99%
“…Since the transient of the adaptive signals can be very oscillatory with big excursions [18], there has been a great deal of effort to modify the control architecture and the adaptive laws from the perspective of improving it. The majority of these efforts led to nonadaptive high gain feedback [3], [4], [16], switching control law [9], [10] or to a parameter dependent persistent excitation condition [1], and addressed only the behavior of output signal.…”
Section: Introductionmentioning
confidence: 99%