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Adaptive output regulation of robot manipulators under actuator constraints

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1 Author(s)
Laib, A. ; Poste Restante, Oran, Algeria

This paper considers the global regulation of robot manipulators without velocity measurement and proposes an adaptive controller for the case where the gravity torque presents an uncertainty. The proposed adaptive controller ensures both the semi-global convergence and the convergence of the position error to zero under actuator constraints

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Robotics and Automation, IEEE Transactions on  (Volume:16 ,  Issue: 1 )