Least Squares Adaptive Control for Trajectory Following Robots

DOI10.1115/1.3143825zbMATH Open0621.93039OpenAlexW2086911732MaRDI QIDQ3758659FDOQ3758659

Authors: C. W. De Silva, J. van Winssen 

Publication date: 1987

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143825

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zbMATH Keywords

geometric nonlinearitiesrobotic manipulatorsphysical nonlinearitiestrajectory followingdynamic couplingadaptive feedback gain schedulingdynamic nonlinearitiesfeedforward torque

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Application models in control theory (93C95)

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