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• W2159156618 abstract "This paper considers control of rigid robot manipulators with revolute joints in the absence of knowledge of the robot model physical parameters using only joint angular position feedback. A sliding mode observer is constructed to estimate the joint angular velocities. An adaptive estimation and control law is derived such that in the closed-loop system, the tracking error and the state estimation error asymptotically converge to zero. The adaptive controller includes a dynamic system in the feedback path and requires no knowledge of the robot's dynamics in its derivation. >" @default.
• W2159156618 created "2016-06-24" @default.
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• W2159156618 date "2002-12-30" @default.
• W2159156618 modified "2023-09-27" @default.
• W2159156618 title "Sliding observer and adaptive control of robot manipulators using joint position feedback" @default.
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• W2159156618 doi "https://doi.org/10.1109/cdc.1993.325175" @default.
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