Adaptive computed torque control for rigid link manipulations

DOI10.1016/0167-6911(88)90033-3zbMath0636.93051OpenAlexW2118587090MaRDI QIDQ1098810

Graham C. Goodwin, Middleton, Richard H.

Publication date: 1988

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0167-6911(88)90033-3

zbMATH Keywords

linear estimationGlobal convergenceadaptive computed-torque controlrigid link mechanical manipulators

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Adaptive control/observation systems (93C40) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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