Title :
An Adaptive Controller for Coupled Nonlinear Systems with Robotic Applications
Author_Institution :
Department of Electrical Engineering, the University of Akron, Akron, OH 44325.
Abstract :
An adaptive control algorithm is presented which is based on state derivative estimation and desired pole placement in a first-order discrete system model. The approach has the advantage that the system states are easily decoupled and that it works well on nonlinear systems. Several simulation studies for robotic systems are presented.
Keywords :
Adaptive control; Control systems; Couplings; Differential equations; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Programmable control; Sampling methods; Service robots;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.1987.350918
