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This paper presents a model reference adaptive control (MRAC) scheme for trajectory tracking of a nonholonomic wheeled mobile robot (WMR) in presence of parametric uncertainty in its dynamic model. The control scheme consists of kinematic and dynamic controllers. The desired values of the linear and angular velocities are generated by the kinematic controller for the given trajectory. The adaptive...
In this paper, adaptive control of free-floating space manipulators is considered. The dynamics based on the momentum conservation law for the free-floating space manipulator has non-linear parameterization properties. Therefore, the adaptive control based on a linear parameterization model cannot be used in this dynamics. In this paper, the dynamics of the free-floating space manipulator system are...
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