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Adaptive Techniques for Mechanical Systems

Center for Systems Science, Yale University, 1988

D. E. Koditschek
Yale University
Full PDF | Penn ScholarlyCommons

Abstract
      Strict Lyapunov functions are constructed for a class of nonlinear feedback compensated mechanical systems, requiring no a priori information concerning the initial conditions of the closed loop 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 a control scheme forced by reference dynamics rather than a reference trajectory.
BibTeX entry
@inproceedings{kod-wast-1987,
   title = {Adaptive Techniques for Mechanical Systems.},
   author = {D.E. Koditschek},
   booktitle = {Fifth Yale Workshop on Applications of Adaptive Systems Theory},
   month = {May},
   year = {1987},
   pages = {259-265},
}

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