Title :
Adaptive model following control of nonlinear robotic systems
Author :
Singh, Sahjendra N.
Author_Institution :
Vigyan Research Associates, Inc., Hampton, VA, USA
fDate :
11/1/1985 12:00:00 AM
Abstract :
An adaptive model following control law for nonlinear robotic systems with rotational joints is presented. The derivation of the controller does not require any knowledge of nonlinear system matrics and the uncertainty in the system. In the closed-loop system the joint angles asymptotically converge to the reference trajectories.
Keywords :
Adaptive control, nonlinear systems; Manipulators; Adaptive control; Control systems; Error correction; Feedback; Friction; Nonlinear control systems; Programmable control; Robot control; Sliding mode control; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1985.1103842
