Adaptive computed torque control for rigid link manipulations

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

Middleton, Richard H., Graham C. Goodwin

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 estimation; Global convergence; adaptive computed-torque control; rigid link mechanical manipulators

Mathematics Subject Classification ID

93C10: Nonlinear systems in control theory

93C95: Application models in control theory

93C40: Adaptive control/observation systems

70Q05: Control of mechanical systems

70B15: Kinematics of mechanisms and robots

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