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Implementing steepest descent MRAC on robotic manipulators

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2 Author(s)
Tan-Cheng Chou ; Dept. of Electr. Eng., Northern Illinois Univ., DeKalb, IL, USA ; Peng-Yung Woo

A steepest descent MRAC scheme is introduced to directly eliminate the coupled nonlinearities among the joints of the robotic manipulators. The simulated result shows that this MRAC system reduces the tracking errors drastically even when the joints of the manipulators have gear ratios of one.

Published in:

Electronics Letters  (Volume:27 ,  Issue: 4 )