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Adaptive control of robotic systems with unknown actuator nonlinearities and control directions
Chen C.1; Liu Z.1; Zhang Y.1; Chen C.L.P.2
2015-08-21
Source PublicationNonlinear Dynamics
ISSN1573269X 0924090X
Volume81Issue:3Pages:1289-1300
AbstractThis paper presents an adaptive control approach to bridge the gap between unknown time-varying actuator nonlinearities and identical control directions in the area of robotic systems. Technically, a novel Nussbaum gain and its properties are first proposed to pave the way for the formulation of a more advanced tool. Subsequently, a newly developed theorem is summarized and integrated into the stability analysis such that all control units automatically and simultaneously estimate the unknown actuator nonlinearities and directions. Finally, it is rigorously proved that robotic systems asymptotically converge to the desired trajectories.
KeywordActuator nonlinearities Adaptive control Control directions Robots
DOI10.1007/s11071-015-2068-3
URLView the original
Language英語
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被引频次[WOS]:14   [WOS记录]     [WOS相关记录]
Document TypeJournal article
专题University of Macau
Affiliation1.Guangdong University of Technology
2.Universidade de Macau
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Chen C.,Liu Z.,Zhang Y.,et al. Adaptive control of robotic systems with unknown actuator nonlinearities and control directions[J]. Nonlinear Dynamics,2015,81(3):1289-1300.
APA Chen C.,Liu Z.,Zhang Y.,&Chen C.L.P..(2015).Adaptive control of robotic systems with unknown actuator nonlinearities and control directions.Nonlinear Dynamics,81(3),1289-1300.
MLA Chen C.,et al."Adaptive control of robotic systems with unknown actuator nonlinearities and control directions".Nonlinear Dynamics 81.3(2015):1289-1300.
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