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Adaptive joint control design for a flexible two-link system

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3 Author(s)
Wenwei Xu ; Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA ; Hongliu Du ; Nair, S.S.

Investigates a robust adaptive control design for a flexible two-link system considering joint angle control in the presence of system uncertainties. The system uncertainties are treated as unknown bounded continuous functions of the states. A Gaussian network is used to map the uncertainties in the MIMO system. A convergent stable learning algorithm is developed for the control design. Simulations show the effectiveness of the proposed learning control strategy

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American Control Conference, 1999. Proceedings of the 1999  (Volume:3 )

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