On Lyapunov function based decentralized adaptive controllers

Abstract

Application of the direct Lyapunov method for the design of decentralized adaptive controllers for tracking in nonlinear systems is examined. It is shown how the assumptions made about the nature of the nonlinear interactions influence the adaptation laws. The authors also examine the role of an auxiliary adaptive signal and show how it can be used to improve the convergence rate and the ultimate bound of the tracking error. Simulation results are presented for controlling the joints of a two-link robot using the proposed adaptive schemes.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>