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Keywords: variable-structure control
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. July 2009, 131(4): 041003.
Published Online: April 29, 2009
... model. Their weights are adapted in real time and from scratch, which means we do not need the mathematical model of the robot in our control algorithm. All uncertainties are handled by variable-structure control. Backstepping structure allows input efforts to be applied to each subsystem where...