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- W2165708852 abstract "A general adaptive inverse scheme is developed for control of systems with actuator imperfections caused by unknown nonsmooth nonlinearities such as dead-zone, backlash and other piecewise-linearities at the input of a linear dynamics. The proposed controller structure consists of an adaptive inverse for cancelling the effect of an unknown nonlinearity and a linear feedback design such as model reference, PID, or pole placement for the linear dynamics. An adaptive law is developed to update the inverse parameters for improved tracking performance despite the presence of actuator imperfections." @default.
- W2165708852 created "2016-06-24" @default.
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- W2165708852 date "1997-01-01" @default.
- W2165708852 modified "2023-10-16" @default.
- W2165708852 title "Adaptive compensation for actuator imperfections" @default.
- W2165708852 cites W1551596967 @default.
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- W2165708852 doi "https://doi.org/10.1109/acc.1997.609555" @default.
- W2165708852 hasPublicationYear "1997" @default.
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