Exponential parameter and tracking error convergence guarantees for adaptive controllers without persistency of excitation.
Girish ChowdharyMaximilian MühleggEric N. JohnsonPublished in: Int. J. Control (2014)
Keyphrases
- tracking error
- control law
- controller design
- nonlinear systems
- closed loop
- control scheme
- control system
- adaptive fuzzy
- fuzzy controller
- adaptive control
- control strategy
- control algorithm
- lyapunov function
- lyapunov stability
- robot manipulators
- optimal control
- tracking accuracy
- dynamic model
- desired trajectory
- fuzzy control
- motion planning
- control strategies
- neural network
- sliding mode control
- inverted pendulum
- reinforcement learning
- control parameters
- convergence speed
- experimental data
- stability analysis
- autonomous robots
- dynamical systems
- mathematical model
- sufficient conditions