• DocumentCode
    847953
  • Title

    Adaptive model following control of nonlinear robotic systems

  • Author

    Singh, Sahjendra N.

  • Author_Institution
    Vigyan Research Associates, Inc., Hampton, VA, USA
  • Volume
    30
  • Issue
    11
  • fYear
    1985
  • fDate
    11/1/1985 12:00:00 AM
  • Firstpage
    1099
  • Lastpage
    1100
  • 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;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1985.1103842
  • Filename
    1103842
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=847953