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- W2328760621 abstract "The manipulator is modelled as an open chain with n DOF, highly n onlinear characteristics and coupling, with elastic links, subject to uncertain gravity and payload and driven by n actuators collocated with joints. It is made to follow a compatible nonlinear b ut simple rigid model within prescribed accuracy of convergence and in real time, by the introduced signal adaptive feedback controller and subject to specified adaptive laws. The state for the controller is supplied not by time consuming solving of the hybrid state equations but by a much simpler observer integrable in closed form, allowing the control to be implemented by small on-board computer." @default.
- W2328760621 created "2016-06-24" @default.
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- W2328760621 date "1986-08-17" @default.
- W2328760621 modified "2023-09-26" @default.
- W2328760621 title "Model reference adaptive control under uncertainty of nonlinear flexible manipulators" @default.
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- W2328760621 doi "https://doi.org/10.2514/6.1986-1976" @default.
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