ADAPTIVE OUTPUT TRACKING CONTROL OF UNCERTAIN ROBOT SYSTEM BY BACKSTEPPING APPROACH
2007
An output tracking controller is designed to a one-DOF link robot system by adaptive backstepping approach,the character of the robot system is that there are uncertain parameters.The designed controller can guarantee the stability of the closed-loop adaptive system and the good tracking performance as well.The simulation is used to demonstrate the effectiveness of the approach presented in this paper.
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