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• W1603640914 abstract "A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control. >" @default.
• W1603640914 created "2016-06-24" @default.
• W1603640914 creator A5079280590 @default.
• W1603640914 date "2002-12-04" @default.
• W1603640914 modified "2023-09-25" @default.
• W1603640914 title "Decentralized digital adaptive control of robot motion" @default.
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• W1603640914 doi "https://doi.org/10.1109/robot.1990.126201" @default.
• W1603640914 hasPublicationYear "2002" @default.
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