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

Additional Metadata
Keywords Adaptive control, Robotics
Persistent URL dx.doi.org/10.1002/acs.4480080305
Journal International Journal of Adaptive Control and Signal Processing
Citation
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