{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:50:37Z","timestamp":1777715437888,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[1996,2,1]],"date-time":"1996-02-01T00:00:00Z","timestamp":823132800000},"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":[[1996,2]]},"abstract":"<jats:p>This article addresses the stability and performance of dis cretized adaptive control algorithms for robotic manipulator control and the compensation of these algorithms for improved stability and tracking performance. The discretization of Slotine and Li's direct adaptive control algorithm results in a sampled- data system for which stability has not been guaranteed. By formulating the entire sampled-data system in continuous time, Lyapunov's direct method is used to determine the sta bility and to derive a nonlinear discrete-time compensating term. This compensator is added to a multirate discretization of Slotine and Li's (1987a) adaptive algorithm, to stabilize the sampled-data system. For sufficiently high gain, globally stable performance and a known bound on the norm of the fil tered error is proven. The stabilizing effect of the compensator and validity of the error bound predictions are demonstrated through simulation and implementation of 2-DOF manipulatior control.<\/jats:p>","DOI":"10.1177\/027836499601500105","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"78-91","source":"Crossref","is-referenced-by-count":3,"title":["Sampled-Data Robot Adaptive Control With Stabilizing Compensation"],"prefix":"10.1177","volume":"15","author":[{"given":"Gabriel D.","family":"Warshaw","sequence":"first","affiliation":[{"name":"Routes Incorporated Kanata, Ontario, Canada K2K 2E1"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Howard M.","family":"Schwartz","sequence":"additional","affiliation":[{"name":"Department of Systems and Computer Engineering Carleton University Ottawa, Ontario, Canada K I S 5B6"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1996,2,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. 3rd International Symposium on Robotics Research","author":"Atkeson, C.G."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600202"},{"key":"atypb3","volume-title":"Adaptive Filtering, Prediction and Control","author":"Goodwin, G.C.","year":"1984"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/9.53514"},{"key":"atypb5","first-page":"1656","author":"Morando, A.","year":"1989","journal-title":"Proc. IEEE Conference on Robotics and Automation"},{"key":"atypb6","volume-title":"Stable Adaptive Systems","author":"Narendra, K.S.","year":"1989"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000206"},{"key":"atypb8","volume-title":"Proc. ASME Winter Annual Meeting","author":"Schwartz, H.M."},{"key":"atypb9","volume-title":"Proc. American Control Conference","author":"Schwartz, H.M."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600303"},{"key":"atypb11","volume-title":"Proc. 5th Yale Workshop on Applications of Adaptive Systems Theory","author":"Slotine, J.-J.E."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/9.14411"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/9.53565"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.22215\/etd\/1990-01760"},{"key":"atypb15","volume-title":"Proc. 1993 Canadian Conference on Electrical and Computer Engineering","author":"Warshaw, G.D."},{"key":"atypb16","volume-title":"Proc. 1992 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Warshaw, G.D."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499601500105","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499601500105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:10Z","timestamp":1777457710000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499601500105"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,2]]},"references-count":16,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1996,2]]}},"alternative-id":["10.1177\/027836499601500105"],"URL":"https:\/\/doi.org\/10.1177\/027836499601500105","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1996,2]]}}}