A model reference adaptive control scheme for Hammerstein systems

2002 ◽  
Author(s):  
O. Yamanaka ◽  
H. Ohmori ◽  
A. Sano
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Hammerstein Systems ◽  
Control Scheme ◽  
Model Reference Adaptive ◽  
Adaptive Control Scheme

Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment

1995 ◽  
Vol 209 (3) ◽  
pp. 197-205 ◽  
Author(s):  
F Gomes de Almeida ◽  
K A Edge
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Model Following ◽  
Control Scheme ◽  
Series Of Experiments ◽  
Hydraulic Manipulator ◽  
Model Reference Adaptive ◽  
Decentralized Model ◽  
Adaptive Control Scheme

The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.

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