Combined computed torque and model reference adaptive control of robot systems

Tzafestas, S; Dritsas, L

dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Dritsas, L	en
dc.date.accessioned	2014-03-01T01:07:50Z
dc.date.available	2014-03-01T01:07:50Z
dc.date.issued	1990	en
dc.identifier.issn	0016-0032	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/10194
dc.subject	Model Reference Adaptive Control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Multidisciplinary	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Mathematics, Interdisciplinary Applications	en
dc.subject.other	Control Systems, Adaptive--Identification	en
dc.subject.other	Robots, Industrial--Manipulators	en
dc.subject.other	Dynamic Model	en
dc.subject.other	Feedback Torque	en
dc.subject.other	Torque Control	en
dc.subject.other	Robots	en
dc.title	Combined computed torque and model reference adaptive control of robot systems	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/0016-0032(90)90022-B	en
heal.identifier.secondary	http://dx.doi.org/10.1016/0016-0032(90)90022-B	en
heal.language	English	en
heal.publicationDate	1990	en
heal.abstract	A new robust technique for robot control is presented which is based on a combination of the feedback computed torque (FCT) method with the model reference adaptive control (MRAC) algorithm. It is shown that perfect tracking is feasible despite the errors induced by a practical FCT controller based on an ""imprecise"" or ""simplified"" available robot model. The MRAC part of the controller is simpler than the ones customarily used for robot control, and only a minimum amount of information is required. The results are illustrated by a double link manipulator computational example. © 1990.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Journal of the Franklin Institute	en
dc.identifier.doi	10.1016/0016-0032(90)90022-B	en
dc.identifier.isi	ISI:A1990CR96400008	en
dc.identifier.volume	327	en
dc.identifier.issue	2	en
dc.identifier.spage	273	en
dc.identifier.epage	294	en