Cited by 188Adaptive Control of Nonlinear SystemsDynamics and Control of Mechanical SystemsControl Systems and Identification

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Adaptive computed torque control for rigid link manipulators

Middletone, R., Goodwin, G.·1986·1986 25th IEEE Conference on Decision and Control

DOI 10.1109/cdc.1986.267156

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Abstract

In this paper we shall examine the adaptive control of rigid link manipulator systems. We give a parameterization of a genereal rigid body which yields dynamic equations that are linear in the unknown parameters. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques.

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Authors: Middletone, R., & Goodwin, G.
Affiliations: University of Newcastle Australia (AU)
ORCID: Goodwin, G.
Venue: 1986 25th IEEE Conference on Decision and Control
Publisher: IEEE
Published: 1986-12
Pages: 68-73
ISSN: 0191-2216 (ISSN-L)
DOI: 10.1109/cdc.1986.267156
OpenAlex: W2178946461
Cited by: 188
References: 0
Citations by year: 2026: 3 · 2025: 4 · 2024: 7 · 2023: 6 · 2022: 2 · 2021: 4 · 2020: 8 · 2019: 5 · 2018: 6 · 2017: 2 · 2016: 2 · 2015: 6 · 2014: 1 · 2013: 7
FWCI: 12.70
Type: conference paper
Language: en
Open access: closed
Locations: IEEE Conference on Decision and Control (CDC) (publishedVersion)
Topics: Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
Physical Sciences › Engineering › Control and Systems Engineering › Control Systems and Identification
Keywords: adaptive control, computed torque control, rigid-link manipulators, robot manipulators, parameter estimation, linear parameterization, global convergence

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Adaptive computed torque control for rigid link manipulators

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