Intelligent self-tuning controllers for robot manipulators

  • A. P. Tzes
  • Published 1990 in
    1990 IEEE International Conference on Systems…


The design problem of an intelligent self-tuning controller, characterized by a two-layer hierarchical structure, is addressed. The layers are organized according to their functions and goals. The control level is implemented as a self-tuning adaptive controller, where a variety of control laws and identification methods exist as candidates for the… (More)


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