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What is Adaptive Robust Control for Robot Manipulators about?

This paper presents a new adaptive-robust control approach for robot manipulators that is resilient to both unknown structured and unstructured parameters, including joint friction and disturbances. It develops dynamic adaptive compensators and combines them into a control law, ensuring uniform ultimate boundedness of the tracking error based on Lyapunov theory. The proposed method distinguishes between structured and unstructured parameters and introduces novel parameter estimation functions to enhance tra

Author

chienmessi307

Language

EN