A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties
In this paper, a model reference adaptive control (MRAC) principle for a one-degree-of-freedom rigid-link electrically driven robot is presented. The proposed control methodology addresses the problem of trajectory tracking with parameter uncertainties in the dynamic model of the system and proposes...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2017-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2017/9296012 |