A discrete time self tuning computed torque controller for robotic manipulators
(1987) Proceedings of the 26th IEEE Conference on Decision and Control (Cat. No.87CH2505-6) — Location: Los Angeles, CA, USA (9.December.1987)
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- Authors
Bastin, Georges 
- Abstract
- A discrete-time self-tuning computed-torque controller is designed for robotic manipulators with unknown physical parameters. It is based on two exact, discrete, zero-order-hold models for manipulators. The first is linear in the parameters and is used as a basis for online parameter estimation. The second is linear analytic and is used for the design of a predictive controller.
- Affiliations
Citations
Bastin, G., Guillaume, A. M., & Campion, G. (1987). A discrete time self tuning computed torque controller for robotic manipulators. Proceedings of the 26th IEEE Conference on Decision and Control (Cat.No.87CH2505-6), Vol. 2, p. 1026-8. https://hdl.handle.net/2078.5/227244