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We consider the control design for under‐actuated manipulator systems. The task is to drive the system to be close to a prescribed constraint. The system contains uncertainty. It is bounded where the bounding information is prescribed by a fuzzy set (e.g., the bound is close to 1). The initial condition is also prescribed by a fuzzy set. A class of robust control is proposed, which guarantees a deterministic...
We consider a class of flexible joint manipulator system which is nonlinear and contains uncertainty. The inertial matrix can be used to construct Lyapunov function, even though some of the joints are prismatic. We construct subsystems via backstepping method and suggest a state transformation under which implanted control is used. From this state transformation, a robust controller, which is only...
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