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Adaptive motion control of rigid robots: A tutorial
In this paper we give a tutorial account of several of the most recent adaptive control results
for rigid robot manipulators. Our intent is to lend some perspective to the growing list of …
for rigid robot manipulators. Our intent is to lend some perspective to the growing list of …
An historical perspective on the control of robotic manipulators
This article is an historical overview of control theory applied to robotic manipulators, with an
emphasis on the early fundamental theoretical foundations of robot control. It discusses …
emphasis on the early fundamental theoretical foundations of robot control. It discusses …
Adaptive manipulator control: A case study
The author's previous work (1986, 1987) utilized the particular structure of manipulator
dynamics to develop a simple, globally convergent adaptive controller for manipulator …
dynamics to develop a simple, globally convergent adaptive controller for manipulator …
Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control
This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control
design for robot manipulators using time-delay estimation (TDE). The proposed control …
design for robot manipulators using time-delay estimation (TDE). The proposed control …
Dynamic inversion: an evolving methodology for flight control design
D Enns, D Bugajski, R Hendrick… - International Journal of …, 1994 - Taylor & Francis
Dynamic inversion: an evolving methodology for flight control design Page 1 INT. J. CONTROL,
1994, YOLo 59, No.1, 71-91 Dynamic inversion: an evolving methodology for flight control …
1994, YOLo 59, No.1, 71-91 Dynamic inversion: an evolving methodology for flight control …
Adaptive computed torque control for rigid link manipulators
In this paper we shall examine the adaptive control of rigid link manipulator systems. We
give a parameterization of a genereal rigid body which yields dynamic equations that are …
give a parameterization of a genereal rigid body which yields dynamic equations that are …
Survey of robust control for rigid robots
Current approaches to the robust control of the motion of rigid robots are surveyed, and the
available literature is summarized. The five major design approaches discussed are the …
available literature is summarized. The five major design approaches discussed are the …
Model-free continuous nonsingular fast terminal sliding mode control for cable-driven manipulators
Y Wang, K Zhu, B Chen, M ** - ISA transactions, 2020 - Elsevier
This work proposes a model-free robust control for cable-driven manipulators with
disturbance. To achieve accurate, singularity-free and fast dynamical control performance …
disturbance. To achieve accurate, singularity-free and fast dynamical control performance …
Optimal rejection of persistent bounded disturbances
In this paper, we formulate the problem of optimal disturbance rejection in the case where
the disturbance is generated as the output of a stable system in response to an input which …
the disturbance is generated as the output of a stable system in response to an input which …
Robust control of robot manipulators: a survey
This paper presents an overview of robust control schemes for robot manipulators. The
survey summarizes the vast literature on the subject. The different modelling assumptions …
survey summarizes the vast literature on the subject. The different modelling assumptions …