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
โฆ LIBER โฆ
Robust adaptive control of robotic manipulators without the regressor matrix
โ Scribed by Jing Yuan; Yury Stepanenko
- Publisher
- John Wiley and Sons
- Year
- 1992
- Tongue
- English
- Weight
- 745 KB
- Volume
- 6
- Category
- Article
- ISSN
- 0890-6327
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This paper deals with adaptive control based on explicit identification. The problem of admissibility of the identified model is solved without requiring persistently exciting inputs. This solution is robust with respect to process variations, unstructured disturbances and model order errors. Finall