This paper presents a non‐linear model reference adaptive controller for robot manipulators. Although the motivating application for this algorithm is in the field of robotics, the algorithm could be applied to non‐linear systems that are feedback‐linearizable. The algorithm developed does not require the measurement nor the estimation of manipulator joint velocities or accelerations. Simulation results verify the performance of the method. Copyright

Adaptive control, Robotics
doi.org/10.1002/acs.4480080305
International Journal of Adaptive Control and Signal Processing
Department of Systems and Computer Engineering

Schwartz, H.M. (1994). Model reference adaptive control for robotic manipulators without velocity measurements. International Journal of Adaptive Control and Signal Processing, 8(3), 279–285. doi:10.1002/acs.4480080305