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- W2102992329 abstract "We propose a robust model following control scheme for a rigid body robot manipulator. A state feedback controller is designed based on the robust H/sub /spl infin// control synthesis so as to guarantee robust stability and robust performance of a descriptor form model following error equation in the presence of uncertain nonlinear perturbations. The proposed control scheme is applied to a two-link direct drive manipulator. Experiments are carried out to evaluate the tracking performance of the manipulator, and the results obtained show the effectiveness and robustness of the proposed controller." @default.
- W2102992329 created "2016-06-24" @default.
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- W2102992329 date "2002-11-27" @default.
- W2102992329 modified "2023-09-27" @default.
- W2102992329 title "Robust model following control with L/sub 2/-gain performance for robot manipulators" @default.
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- W2102992329 doi "https://doi.org/10.1109/cca.1998.721590" @default.
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