Adaptive control for nonlinearly parameterized uncertainties in robot manipulators

IEEE-Inst Electrical Electronics Engineers Inc
Publication Type:
Journal Article
The IEEE Transactions on Control Systems Technology, 2008, 16 (3), pp. 458 - 468
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In this brief, a new adaptive control framework to compensate for uncertain nonlinear parameters in robot manipulators is developed. The designed adaptive controllers possess a linear parameter structure, guarantee global boundedness of the closed-loop s
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