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Adaptive control of robots with an improved transient performance

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2 Author(s)
Arteaga, M.A. ; DEPFI, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico ; Yu Tang

By using a robust control technique, this note proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent persistent excitation (PE) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter, estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results

Published in:

Automatic Control, IEEE Transactions on  (Volume:47 ,  Issue: 7 )