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In this paper, we propose a fast online closed-loop identification method combined with an output-feedback controller of the generalized proportional integral (GPI) type for the control of an uncertain flexible robotic arm with unknown mass at the tip, including a Coulomb friction term in the motor dynamics. A fast nonasymptotic algebraic identification method developed in continuous time is used to identify the unknown system parameter and update the designed certainty equivalence GPI controller. In order to verify this method, several informative simulations and experiments are shown.
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on (Volume:39 , Issue: 3 )
Date of Publication: June 2009