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Nonlinear adaptive partial state feedback trajectory tracking control of tendon driven robot manipulators
In this work, the link position tracking control problem of a tendon driven robotic system is studied in the presence of parametric uncertainty and lack of velocity measurements both of links and actuators. A partial state ...
Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach
This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring ...
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 ...