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|Title:||Adaptive control of robots having both dynamical parameter uncertainties and unknown input scalings|
|Source:||Ge, S.S. (1996-08). Adaptive control of robots having both dynamical parameter uncertainties and unknown input scalings. Mechatronics 6 (5) : 557-569. ScholarBank@NUS Repository. https://doi.org/10.1016/0957-4158(95)00088-7|
|Abstract:||The control problems of robots having both dynamical parameter uncertainties and unknown input scalings are addressed. By appropriately defining the parameters of interest and the corresponding regresser, an adaptive control law is presented by exploiting the structural properties of the resulting dynamical models. It is shown that the tracking errors converge to zero and all the signals in the closed-loop system are bounded. Even though the input scalings are unknown, there is no need to adapt them because of the particular controller structure introduced here. Due to the introduction of the input scalings, uncertainties in the transformation mechanisms of robots are allowed. Copyright © 1996 Elsevier Science Ltd.|
|Appears in Collections:||Staff Publications|
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