scientific article; zbMATH DE number 15408

MaRDI QIDQ3972046zbMATH OpenFDO

Authors R. J. Stonier, C. N. Wheeler

Publication date 25 June 1992

zbMATH Keywords

automated systemsmodel reference adaptive control

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

[For the entire collection see Zbl 0699.00044.] The model reference adaptive control (MRAC) techniques using Lyapunov direct method is examined. In particular an \(n\) degree-of-freedom manipulator, following a prescribed or selected nonlinear dynamic model with desired characteristics is considered. The results are illustrated on the \(RP\)-manipulator model.

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(10)

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• A New Approach to Adaptive Control of Manipulators
• Adaptation rates for MRAC systems
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• Model reference adaptive control algorithms for industrial robots

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