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A discrete-time adaptive controller is introduced for robotic manipulators with flexible joints. Simulation results are given for a one-link example and a two-link example.
This paper presents an example in which a flexible mechanical system is controlled by a variable-order adaptive controller. This controller works much better than fixed-order adaptive controllers that have been applied to the system. In the variable-order algorithm the effective plant order is determined adaptively with a lattice filter, which is recursive in order as well as in time.
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