Adaptive Model Following Control of Nonlinear Robotic Systems
An adaptive model following control law for nonlinear robotic systems with rotational joints is presented. The derivation of the controller does not require any knowledge of nonlinear system matrics and the uncertainty in the system. In the closed-loop system the joint angles asymptotically converge to the reference trajectories.
Controls and Control Theory | Electrical and Computer Engineering | Engineering
Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.
Singh, S. N.
Adaptive Model Following Control of Nonlinear Robotic Systems.
IEEE Transactions on Automatic Control, 30(11),