Abstract: The modified model reference adaptive control (MRAC) technique is used to make a highly nonlinear and coupled n DOF robot manipulator with uncertain parameters to follow a prescribed model in ...

Abstract: A new approach is presented for deriving control laws for dynamic systems that can be formulated by Hamilton’s canonical equations. The approach uses the complete nonlinear equations of the ...

Abstract: The retrograde (or backward-time evolution) point mapping numerical method introduced by C. S. Hsu is employed in conjunction with the Liapunov type sufficient conditions to determine the boundary ...