Abstract
In this paper we present a nonlinear adaptive output feedback control algorithm. The algorithm is for model reference adaptive control of robotic manipulators. This algorithm uses model signals in the regressor and the linearization law and hence, does not require an observer. We show via various simulations that this algorithm has a region of convergence. We also show that the region of convergence can be increased if a normalizing factor is used in the adaptation law.
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© 2014 Springer International Publishing Switzerland
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Mohammadi Souran, D., Askari, M.H., Razagh Pour, N., Razeghi, B. (2014). Scrutiny of Nonlinear Adaptive Output Feedback Control for Robotic Manipulators. In: Thampi, S., Gelbukh, A., Mukhopadhyay, J. (eds) Advances in Signal Processing and Intelligent Recognition Systems. Advances in Intelligent Systems and Computing, vol 264. Springer, Cham. https://doi.org/10.1007/978-3-319-04960-1_46
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DOI: https://doi.org/10.1007/978-3-319-04960-1_46
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-04959-5
Online ISBN: 978-3-319-04960-1
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