A fast trajectory tracking adaptive controller for robot manipulators
An adaptive decentralized nonlinear controller for a robot manipulator is presented in this thesis. Based on the adaptive control schemes designed by Seraji [18], Dai [30], and Jimenez [31], we redesigned and further simplified the control algorithm and, as a consequence, we achieved better path tra...
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| Language: | en_US |
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2013
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| Online Access: | http://hdl.handle.net/1957/36095 |