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- W2188771697 abstract "In this paper an adaptive partial s tate feedback con- troller is designed for Rigid-Link Eleetrical/y-Dri ven (RLED) robot manipulators actuated by multi-phase m otors. The controller is based on structural knowledge of the electromechanica l dynamics of the RLED robot and m easurements of link position and electrical winding current in each of the link a ctuators. The proposed con- troller is designed to adapt for parametric uncertainty in the elec- tromechanical dynamics while utilizing a dynamic filter to generate link velocity tracking error information. The controller, adaptation laws, and the pseudo-velocity filter are d esigned via a Lyapunov- like approach, the benefit of which is that at the end of the design procedure, the controller can be mathematically shown to produce semiglobal asymptotic link position tracking." @default.
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- W2188771697 date "1965-01-01" @default.
- W2188771697 modified "2023-09-27" @default.
- W2188771697 title "artial State Feedback Controller for t Manipulators Actutated by BL" @default.
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