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On adaptive output feedback controf robotic manipulators with online disturbance estimation
The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended ...
Observer-based adaptive output feedback tracking control of dynamically positioned surface vessels
In this work, we propose an observer-based adaptive output feedback tracking controller for dynamically positioned surface vessels. Specifically, to remove the velocity measurement dependency of the control formulation a ...
Adaptive control of redundant robot manipulators with sub-task objectives
(Cambridge University Press, 2009-10)
In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general ...