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Adaptive iterative learning control for robot manipulators

โœ Scribed by Abdelhamid Tayebi


Publisher
Elsevier Science
Year
2004
Tongue
English
Weight
440 KB
Volume
40
Category
Article
ISSN
0005-1098

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In this paper we present a robust adaptive control scheme for robot manipulators with time-varying parameters and unmodeled dynamics. Our scheme ensures that all signals in the closed-loop robot system are bounded and the tracking error is of the order of the parameter variations and unmodeled dynam