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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 ...
Lyapunov-based output feedback learning control of robot manipulators
This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for ...
Observer based adaptive output feedback tracking control of robot manipulators
In this paper, we propose an observer based adaptive output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, we used a model independent observer in conjuction with a desired compensation ...