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A global adaptive learning control for robotic manipulators

โœ Scribed by Stefano Liuzzo; Patrizio Tomei


Publisher
Elsevier Science
Year
2008
Tongue
English
Weight
555 KB
Volume
44
Category
Article
ISSN
0005-1098

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Nonlinear adaptive control of robotic ma
โœ A. Katbab ๐Ÿ“‚ Article ๐Ÿ“… 1988 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 539 KB

A nonlinear model reference adaptive controller based on hyperstability approach, is presented for the control of robot manipulators. Use of hyperstability approach simplifies the stability proof of the adaptive system. The unknown parameters of the system, as well as its variable payload, are estim