Discrete Time Model Reference Adaptive Control of an Industrial Manipulator’s Waist Joint

DOI10.1115/1.3143858MaRDI QIDQ3765652zbMATH OpenOpenAlexFDO

Authors

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/10.1115/1.3143858

zbMATH Keywords

robot controldiscrete time model reference adaptive control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Discrete-time control/observation systems (93C55) Application models in control theory (93C95)

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(7)

• A discrete‐time optimal adaptive control law for a robot arm
• A unified approach to the decoupled discrete adaptive control of manipulators
• A New Approach to Adaptive Control of Manipulators
• Generalized manipulator dynamics, with regard to model reference adaptive control
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• Model reference adaptive control algorithms for industrial robots
• Discrete-time deadbeat model reference adaptive control of an adjustable-speed DC motor drive system

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