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An Adaptive Controller for Coupled Nonlinear Systems with Robotic Applications

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1 Author(s)
Tom T. Hartley ; Department of Electrical Engineering, the University of Akron, Akron, OH 44325.

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.

Published in:

IEEE Transactions on Industrial Electronics  (Volume:IE-34 ,  Issue: 1 )