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Model reference adaptive control for robotic manipulators without velocity measurements
Author(s) -
Schwartz Howard M.
Publication year - 1994
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480080305
Subject(s) - control theory (sociology) , robot manipulator , robotics , controller (irrigation) , adaptive control , computer science , control engineering , field (mathematics) , artificial intelligence , robot , engineering , control (management) , mathematics , pure mathematics , agronomy , biology
This paper presents a non‐linear model reference adaptive controller for robot manipulators. Although the motivating application for this algorithm is in the field of robotics, the algorithm could be applied to non‐linear systems that are feedback‐linearizable. The algorithm developed does not require the measurement nor the estimation of manipulator joint velocities or accelerations. Simulation results verify the performance of the method.