1989
DOI: 10.1002/oca.4660100102
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A discrete‐time optimal adaptive control law for a robot arm

Abstract: The equations of motion describing a robot's dynamics are coupled and non-linear, making the design of an optimum controller difficult using classical techniques. In this work a n explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion for position error and total control effort. The system parameters are recursively estimated at each control step by use of least squares, with a typical sample time of 0.02 s. A comput… Show more

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