A discrete time self tuning computed torque controller for robotic manipulators

Abstract

A discrete time self tuning computed torque controller is designed for robotic manipulators with unknown physical parameters. It is based on two "exact" discrete ZOH models of manipulators. The first one is linear in the parameters and is used as a basis for on line parameter estimation. The second one is linear analytic and is used for the design of a "Predictive controller".