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- W4387444313 abstract "The article deals with the problem of constructing adaptive control systems for electric drives of underwater manipulators using only information about the position of the output shafts of these drives. These systems compensate for part of the external torque acting on the corresponding electric drive shaft, caused by the mutual influences between the moving links of the manipulator and interaction with a viscous environment, by supplying an additional control signal to the drive input. The operation of the proposed system is based on the use of observers with a variable structure, allowing in real time to estimate mentioned external torque, as well as the rotation velocity and acceleration of electric driver shaft. The effectiveness of such a system has been confirmed by mathematical modeling." @default.
- W4387444313 created "2023-10-10" @default.
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- W4387444313 date "2023-09-10" @default.
- W4387444313 modified "2023-10-11" @default.
- W4387444313 title "A Method for Constructing Adaptive Control Systems for Electric Drives of an Underwater Multi-Link Manipulator" @default.
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- W4387444313 doi "https://doi.org/10.1109/rusautocon58002.2023.10272889" @default.
- W4387444313 hasPublicationYear "2023" @default.
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