Title :
Implementing steepest descent MRAC on robotic manipulators
Author :
Tan-Cheng Chou ; Peng-Yung Woo
Author_Institution :
Dept. of Electr. Eng., Northern Illinois Univ., DeKalb, IL, USA
Abstract :
A steepest descent MRAC scheme is introduced to directly eliminate the coupled nonlinearities among the joints of the robotic manipulators. The simulated result shows that this MRAC system reduces the tracking errors drastically even when the joints of the manipulators have gear ratios of one.
Keywords :
industrial robots; model reference adaptive control systems; joint nonlinearities; model reference adaptive control; robotic manipulators; steepest descent MRAC scheme; tracking errors;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19910235
