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Robust speed-gradient adaptive control algorithms for manipulators and mobile robots

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3 Author(s)
A. L. Fradkov ; Inst. of Machine Sci., Acad. of Sci., St. Petersburg, USSR ; S. V. Gusev ; I. A. Makarov

A number of adaptive control algorithms for manipulating and mobile robots are considered from the viewpoint of the speed-gradient method. A general theorem on speed-gradient algorithms is presented, making it possible to investigate closed-loop robot dynamics under disturbances and nonstationarities

Published in:

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Date of Conference:

11-13 Dec 1991