Adaptive control
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Adaptive control is a class of control strategies in which the controller continuously adjusts its parameters in real time to accommodate unknown or changing system dynamics. Rather than relying on a fixed, pre-tuned model, adaptive controllers estimate uncertain parameters—such as robot link masses, friction coefficients, or payload variations—online and update the control law accordingly. In robotics and AI, adaptive control is widely applied to robot manipulators, mobile robots, underwater vehicles, and aerial systems, where dynamic uncertainties and environmental disturbances make fixed controllers unreliable. Common approaches include model reference adaptive control, adaptive sliding-mode control, and neural network or fuzzy-based adaptive schemes that approximate unknown nonlinearities. These methods are often combined with techniques like backstepping, impedance control, or prescribed performance frameworks to handle constraints and guarantee stability. Adaptive control matters because real-world robots operate under conditions that cannot be perfectly modeled in advance; by learning and compensating for uncertainties on the fly, adaptive controllers deliver robust, high-performance tracking and safety even as operating conditions evolve.
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Robot dynamics and control
Mark W. Spong
Citations: 3821 • 1989
Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
Charalampos P. Bechlioulis, George A. Rovithakis
Citations: 2576 • 2008
On the Adaptive Control of Robot Manipulators
Jean-Jacques Slotine, Weiping Li
Citations: 2258 • 1987
Adaptive Control of Mechanical Manipulators
John Craig, Shankar Sastry
Citations: 1286 • 1987
Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints
Wei He, Yuhao Chen, Zhao Yin
Citations: 1257 • 2015
Adaptive motion control of rigid robots: A tutorial
Roméo Ortega, Mark W. Spong
Citations: 1224 • 1989
Adaptive control of linearizable systems
Shankar Sastry, Alberto Isidori
Citations: 1195 • 1989
The attitude control problem
John T. Wen, Kenneth Kreutz-Delgado
Citations: 1053 • 1991
Adaptive manipulator control: A case study
J.-J.E. Slotine, Weiping Li
Citations: 1027 • 1988
Robot Manipulator Control: Theory and Practice
Frank L. Lewis, D.M. Dawson, Chaouki T. Abdallah
Citations: 899 • 2003
Tracking Control of Mobile Robots: A Case Study in Backstepping**This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Alberto Isidori under the direction of Editor Tamer Başar.
ZHONG-PING JIANGdagger, Henk Nijmeijer
Citations: 823 • 1997
Adaptive tracking control of a nonholonomic mobile robot
Takanori Fukao, Hidetoshi Nakagawa, N. Adachi
Citations: 800 • 2000
Full control of a quadrotor
Samir Bouabdallah, Roland Siegwart
Citations: 796 • 2007
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Wei He, Yiting Dong, Changyin Sun
Citations: 787 • 2015
Design and control of quadrotors with application to autonomous flying
Samir Bouabdallah
Citations: 748 • 2006
Control of a nonholonomic mobile robot using neural networks
Rafael Fierro, Frank L. Lewis
Citations: 714 • 1998
Adaptive Fixed-Time Control for MIMO Nonlinear Systems With Asymmetric Output Constraints Using Universal Barrier Functions
Xu Jin
Citations: 679 • 2018
Control of a nonholonomic mobile robot: backstepping kinematics into dynamics
Rafael Fierro, Frank L. Lewis
Citations: 658 • 2002
Leader–follower formation control of underactuated autonomous underwater vehicles
Rongxin Cui, Shuzhi Sam Ge, Bernard Voon Ee How, Yoo Sang Choo
Citations: 647 • 2010
Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning
Wei He, Yiting Dong
Citations: 638 • 2017