Composite adaptation and learning techniques were initially proposed for improving
parameter convergence in adaptive control and have generated considerable research …

In this article, a filter-based control scheme is developed for Euler–Lagrange systems with
unknown parameter and external disturbance. Two controllers are proposed under the …

The survey examines the current state of the speed gradient method, developed in the 1970–
80s for synthesizing control and adaptation algorithms in nonlinear systems, as well as …

Uncertainties in the kinematic and dynamic parameters of a parallel robot are unavoidable.
The problem is more crucial in the cases where the manipulator interacts with the …

Adaptive control is one of the most employed techniques to achieve trajectory tracking of
robot manipulators. Although it is desirable to obtain exact parameter estimation, most …

The scope of this research is the identification of unknown piecewise constant parameters of
linear regression equation under the finite excitation condition. Compared to the known …

Interconnection and dam** assignment passivity-based control scheme has been used to
stabilize many physical systems such as underactuated mechanical systems through total …

This paper studies the immersion and invariance (I&I) adaptive tracking problem for a class
of nonlinear systems with nonlinear parameterization in the ISS framework. Under some …

Adaptive control of robot manipulators has been widely used in the last decades. The main
control goal is usually trajectory tracking, but exact parameter estimation is always desirable …

This paper focuses on excitation collection and composite learning adaptive control design
for uncertain nonlinear systems. By adopting the spectral decomposition technique, a linear …