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Adaptive model following control of nonlinear robotic systems. (English) Zbl 0569.93052
An adaptive model following control law for nonlinear robotic systems with rotational joints is presented. The derivation of the controller does not require any knowledge of nonlinear system matrices and the uncertainty in the system. In the closed-loop system the joint angles asymptotically converge to the reference trajectories.

93C40 Adaptive control/observation systems
70Q05 Control of mechanical systems
93C10 Nonlinear systems in control theory
70B15 Kinematics of mechanisms and robots
93C15 Control/observation systems governed by ordinary differential equations
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