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Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator. (English) Zbl 0724.93048
Summary: The adaptive robust output tracking for a class of nonlinear systems is considered. Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed loop system asymptotically track the given output trajectories despite the uncertainties, and the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two degree-of-freedom (DOF) robotic manipulator with unknown payload.

MSC:
93C40 Adaptive control/observation systems
93C85 Automated systems (robots, etc.) in control theory
70Q05 Control of mechanical systems
93B12 Variable structure systems
93B35 Sensitivity (robustness)
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