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Adaptive model following control of nonlinear robotic systems

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1 Author(s)
Singh, Sahjendra N. ; Vigyan Research Associates, Inc., Hampton, VA, USA

An adaptive model following control law for nonlinear robotic systems with rotational joints is presented. The derivation of the controller does not require any knowledge of nonlinear system matrics and the uncertainty in the system. In the closed-loop system the joint angles asymptotically converge to the reference trajectories.

Published in:

Automatic Control, IEEE Transactions on  (Volume:30 ,  Issue: 11 )