2KUC T Y, HAN W. An adaptive PIE) learning control of robot manip- ulators [J]. Automatica, 2000, 36(5): 717- 725.
3SONG Z, YI J, ZHAO D, et al. A computed torque controller for un- certain robotic manipulator systems: Fuzzy approach [J]. Fuzzy Sets and Systems, 2005, 154(2): 208 - 226.
4LE T D, KANG H J, SUH Y S, et al. An online self gain tuning method using neural networks for nonlinear PD computed torque con- troller of a 2:tof parallel manipulator [J]. Neurocomputing, 2013, 116(20): 53 - 61.
5NGUYEN D, SEEGER M, PETERS J. Computed torque control with nonparametric regression models [C] //Proceedings of the American Control Conference. Seattle, WA: IEEE, 2008:212 - 217.
6CAMACHO E F, BORDONS C, CAMACHO E E et al. Model Pre- dictive Control [M]. London: Springer, 2004.
7KLAN(:AR G, SKRJANC I. Tracking-error model-based predictive control for mobile robots in real time [J]. Robotics and Autonomous Systems, 2007, 55(6): 460 - 469.
8WROBLEWSKI W. Implementation of a model predictive control al- gorithm for a 6 dof manipulator-simulation results [C] //Fourth In- ternational Workshop on Robot Motion and Control. Poland: IEEE, 2004:209 - 212.
9SCIAV1CCO L. Robotics: Modelling, Planning and Control [M]. London: Springel, 2009.
10HEDJAR R, TOUMI R, BOUCHER P, et al. Feedback nonlinear pre- dictive control of rigid link robot manipulators [C] //Proceedings of the American Control Conference. Anchorage, AK: IEEE, 2002, 5: 3594 - 3599.
