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- W3129849095 abstract "Model-based methods lose their performance in confronting with model uncertainties and disturbances. Accordingly, some degrees of adaptation to the involved conditions are required. In this paper, a novel robust adaptive scheme is proposed which guarantees the simultaneous identification and control of a system in the presence of external disturbances. Thereafter, the suggested algorithm is implemented on a 2-DOf spherical parallel robot as a stabilizer device. By identifying unknown parameters of Jacobian matrix, the relative identification error is obtained as 0.0207. Applying external excitations to the base, the ratio of end-effector to base orientation is acquired as 0.091, demonstrating proper stabilization in comparison with other two well-known methods. The proposed structure also reveals a reliable performance in tracking desired paths for the end-effector Euler angles." @default.
- W3129849095 created "2021-03-01" @default.
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- W3129849095 date "2021-11-01" @default.
- W3129849095 modified "2023-10-01" @default.
- W3129849095 title "Control of a two-DOF parallel robot with unknown parameters using a novel robust adaptive approach" @default.
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- W3129849095 doi "https://doi.org/10.1016/j.isatra.2021.02.001" @default.
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