{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T15:43:52Z","timestamp":1781279032624,"version":"3.54.1"},"reference-count":21,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[1990,6,1]],"date-time":"1990-06-01T00:00:00Z","timestamp":644198400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1990,6]]},"abstract":"<jats:p>\n                    The stability and robustness properties of the adaptive control scheme proposed by Sadegh and Horowitz (1987) are stud ied. The properties include the global exponential stability and L\n                    <jats:sub>p<\/jats:sub>\n                    input\/output stability of the nonadaptive (i.e., fixed- parameter) control system and the global asymptotic stability of the adaptive control scheme. Sufficient conditions for the convergence of the estimated parameters to their true values are also given. A computationally efficient adaptation scheme that is a modified version of the original scheme is proposed. The modified scheme utilizes the desired trajectory outputs, which can be calculated a priori, instead of the actual joint outputs in the parameter adaptation algorithm and the non linearity compensation controller. Sufficient conditions for guaranteeing all the stability properties of the original scheme in the modified scheme are also explicitly derived. A com puter simulation study of the performance of both schemes in the presence of noise disturbances is conducted.\n                  <\/jats:p>","DOI":"10.1177\/027836499000900305","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"74-92","source":"Crossref","is-referenced-by-count":435,"title":["Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators"],"prefix":"10.1177","volume":"9","author":[{"given":"Nader","family":"Sadegh","sequence":"first","affiliation":[{"name":"The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roberto","family":"Horowitz","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of California at Berkeley Berkeley, California 94720"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[1990,6,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the 1984 American Control Conference","author":"Anex, R.P."},{"key":"atypb2","unstructured":"Arimoto, S. and Miyazaki, F. 1984, Stability and robustness of PID feedback control for robot manipulators of sensory capability. In M. Brady and R. P. Paul (eds.): Robotics Research: First International Symposium. Cambridge, Mass.: MIT Press, pp. 783-799."},{"key":"atypb3","volume-title":"Small signal I\/O stability of nonlinear control systems: Application to the robustness of MRAC. Technical Report, Department of Electrical Engineering and Computer Science","author":"Bodson, M.","year":"1984"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140646"},{"key":"atypb5","volume-title":"Proceedings of the 1986 IEEE International Conference on Robotics and Automation","author":"Craig, J.J."},{"key":"atypb6","volume-title":"Feedback Systems: Input-Output Properties","author":"Desoer, C.A.","year":"1975"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426424"},{"issue":"7","key":"atypb8","first-page":"659","volume":"33","author":"Horowitz, R.","year":"1980","journal-title":"ASME J. Dyn. Sys. Meas. Control"},{"key":"atypb9","first-page":"1216","volume":"3","author":"Horowitz, R.","year":"1987","journal-title":"Proc. IEEE Conference on Robotics and Automation"},{"key":"atypb10","first-page":"1210","volume":"3","author":"Hsu, P.","year":"1987","journal-title":"Proc. IEEE Conference on Robotics and Automation"},{"key":"atypb11","volume-title":"IEEE Conference on Decision and Control","author":"Koditschek, D."},{"key":"atypb12","unstructured":"Marsden, E.J. 1974. Elementary Classical Analysis. San Francisco: W. H. Freeman and Company, p. 175."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102316"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(84)90013-X"},{"key":"atypb15","volume-title":"Adaptive control in the presence of unmodelled dynamics. LIDS-TH-1254, Laboratory of Information and Decision Systems","author":"Rohrs, C.","year":"1982"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-8318-5"},{"key":"atypb17","volume-title":"Proc. 1987 IEEE Int. Conf Robot. Automat","author":"Sadegh, N."},{"key":"atypb18","volume-title":"Robots: Theory and Applications. Proc. of ASME Winter Annual Meeting","author":"Slotine, J."},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1080\/00207178108922527"},{"key":"atypb20","volume-title":"Proc. Japan-USA Symposium on Flexible Automation","author":"Tomizuka, M."},{"issue":"2","key":"atypb21","doi-asserted-by":"crossref","first-page":"431","DOI":"10.1109\/TAC.1982.1102937","volume":"27","author":"Vidyasagar, M.","year":"1982","journal-title":"IEEE Trans. Automat. Control"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499000900305","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499000900305","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:13:19Z","timestamp":1777457599000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499000900305"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,6]]},"references-count":21,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1990,6]]}},"alternative-id":["10.1177\/027836499000900305"],"URL":"https:\/\/doi.org\/10.1177\/027836499000900305","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,6]]}}}