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Neural network based repetitive learning control of robot manipulators
Control of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a ...
A dynamic model free observer based output feedback tracking control of robot manipulators in task-space
(Institute of Electrical and Electronics Engineers, 2018)
This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis ...