Adaptive Control of Nonlinear System with Time Delay based on the Feedback Error Learning Method

Shun Ushida; Hidenori Kimura

doi:10.11499/sicep.2002.0.566.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.566.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Adaptive Control of Nonlinear System with Time Delay based on the Feedback Error Learning Method

Shun Ushida, Hidenori Kimura

著者情報

キーワード: Feedback Error Learning method, Time Delay, Direct Drive arm

会議録・要旨集フリー

p. 566

詳細

抄録

This paper aims to establish control theoretical validity of the feedback error learning (FEL) method for nonlinear manipulator dynamics including a time delay. It was shown in practical two-links DD arm that with 200 milliseconds time delay in the feedback loop, the FEL method worked stably and tracking errors of the angles converged. In this paper, for the time delayed nonlinear systems, the stability of the adaptive control law of FEL method is proven based on the small-gain theorem of nonlinear systems and Lyapunov stability theorem via a delayed state derivative.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）