曾瑶辉, 徐缤昌. 机械手的线性扰动和模型跟随自适应控制方案的仿真研究[J]. 机器人, 1989, 11(5): 7-13..
ZENG Yaohui, XU Binchang. SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS. ROBOT, 1989, 11(5): 7-13..
Abstract：This paper proposes a linear perturbation adaptive control scheme with integrators and a model fol-lowing control scheme with gravity compensation for robot manipulators.Simulation results show that the two schemes can make manipulators follow a desired orbit while the load is unknown.
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