• DocumentCode
    802675
  • Title

    An Adaptive Controller for Coupled Nonlinear Systems with Robotic Applications

  • Author

    Hartley, Tom T.

  • Author_Institution
    Department of Electrical Engineering, the University of Akron, Akron, OH 44325.
  • Issue
    1
  • fYear
    1987
  • Firstpage
    19
  • Lastpage
    23
  • Abstract
    An adaptive control algorithm is presented which is based on state derivative estimation and desired pole placement in a first-order discrete system model. The approach has the advantage that the system states are easily decoupled and that it works well on nonlinear systems. Several simulation studies for robotic systems are presented.
  • Keywords
    Adaptive control; Control systems; Couplings; Differential equations; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Programmable control; Sampling methods; Service robots;
  • fLanguage
    English
  • Journal_Title
    Industrial Electronics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0278-0046
  • Type

    jour

  • DOI
    10.1109/TIE.1987.350918
  • Filename
    4158820
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=802675