Higher Performance Adaptive Control of a Flexible Joint Robot Manipulators

Doghiem, Hossam N.

doi:10.9790/1684-1127131142

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“…The separation principle is a well-known technique for linear systems theory and is applicable to a special class of nonlinear systems [37], while for other nonlinear systems stability is not guaranteed if the measured states are substituted with their estimates [38]. Accordingly, Schwartz [39] proposed the MRAC algorithm which uses a linear observer to estimate the joint velocity signal instead of a nonlinear observer. This simplifies the implementation.…”

Section: Background and Motivationmentioning

confidence: 99%