Abstract
Robust adaptive control scheme is presented for robotic manipulators. The effects of parametric and dynamic uncertainties in the robot mathematical model are suppressed by adaptive control scheme which ensures that the stability measure of nominal system will increase in time until there are no transient processes.
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References
Paden, B. E., Sastry, S. S. (1987). A Calculus for Computing Filippov’s Differential Inclusion with Application to the Variable Structure Control of Robot Manipulators, I.E.E.E. Transactions on Circuits and Systems, CAS — 34, 73–82.
Veselý, V. (1993). Large Scale Dynamic System Stabilization Using the Principle of Dominant Subsystems, Kybernetika, 29, 48–62.
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© 1994 Springer-Verlag/Wien
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Vesely, V., Kalas, D. (1994). Robust Adaptive Lyapunov-Based Robot Control. In: Kopacek, P. (eds) Robotics in Alpe-Adria Region. Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich. Springer, Vienna. https://doi.org/10.1007/978-3-7091-9346-4_24
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DOI: https://doi.org/10.1007/978-3-7091-9346-4_24
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82545-7
Online ISBN: 978-3-7091-9346-4
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