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A discrete-time optimal adaptive control law for a robot arm

โœ Scribed by Pauline A. Marchand; Peter D. Lawrence; Dale B. Cherchas


Publisher
John Wiley and Sons
Year
1989
Tongue
English
Weight
865 KB
Volume
10
Category
Article
ISSN
0143-2087

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A discrete-time decentralized model reference adaptive controller is presented for a large-scale system composed of N interconnected single-input single-output linear subsystems with unknown parameters and unmodeled dynamics. Each local adaptive law utilizes a normalizing signal which is generated b