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- W2000556036 abstract "Abstract This paper is devoted to the investigation of adaptive inverse dynamics for free-floating space manipulators (FFSMs) suffering from parameter uncertainties/variations. To overcome the nonlinear parametric problem of the dynamics of FFSMs, we introduce a new regressor matrix called the generalized dynamic regressor. Based on this regressor, and with Lyapunov stability analysis tools, we obtain a new parameter adaptation law and show that the closed-loop system is stable, and that the joint tracking errors converge asymptotically to zero. Simulation results are provided to illustrate the performance of the proposed adaptive algorithm. Furthermore, we conduct a comparative study between adaptive inverse dynamics, prediction error based adaptation, and passivity based adaptation." @default.
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- W2000556036 date "2011-10-01" @default.
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- W2000556036 title "On adaptive inverse dynamics for free-floating space manipulators" @default.
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- W2000556036 doi "https://doi.org/10.1016/j.robot.2011.05.013" @default.
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