Combined computed torque and model reference adaptive control of robot systems
A new robust technique for robot control is presented which is based on a combination of the feedback computed torque method with the model reference adaptive control algorithm. The resulting controller guarantees perfect tracking for all bounded uncertainties if the correct state vector is available for feedback. The results are illustrated by a double link manipulator computational example.
model reference adaptive control algorithm
scientific article; zbMATH DE number 4162758
scientific article