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    Adaptive Robust Model-Following Control and Application to Robot Manipulators

    Source: Journal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 003::page 209
    Author:
    Y. H. Chen
    DOI: 10.1115/1.3143846
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to be zero. Application to robotic manipulators is made.
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      Adaptive Robust Model-Following Control and Application to Robot Manipulators

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    http://yetl.yabesh.ir/yetl1/handle/yetl/102308
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    contributor authorY. H. Chen
    date accessioned2017-05-08T23:24:31Z
    date available2017-05-08T23:24:31Z
    date copyrightSeptember, 1987
    date issued1987
    identifier issn0022-0434
    identifier otherJDSMAA-26099#209_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/102308
    description abstractThe model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to be zero. Application to robotic manipulators is made.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleAdaptive Robust Model-Following Control and Application to Robot Manipulators
    typeJournal Paper
    journal volume109
    journal issue3
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.3143846
    journal fristpage209
    journal lastpage215
    identifier eissn1528-9028
    treeJournal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian