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Adaptive controller designs for robot manipulator systems using Lyapunov direct method

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2 Author(s)
Lim, Kye Y. ; State University of New York, Stony Brook, NY, USA ; Eslami, M.

Two different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.

Published in:

Automatic Control, IEEE Transactions on  (Volume:30 ,  Issue: 12 )