From AMS Glossary
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The theory, introduced by the Serbian mathematician M. Milankovitch during the first half of the twentieth century, that variations in the precession of the equinoxes and solstices, the varying tilt of the earth's rotational axis, and the varying eccentricity of the earth's orbit are responsible for the sequence of ice ages during the Pleistocene era.
Milankovitch, M. 1941. Canon of insolation and the ice age problem (in Yugoslavian). K. Serb. Acad. Beorg.. Spec. Publ. 132 (English translation by Israel Program for Scientific Translations, Jerusalem, 1969).