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In this paper, an adaptive backstepping design scheme with sliding mode concept has been developed for the tracking control of a helicopter in vertical flight system. In general, the control of small-scale helicopter is a difficult task, because the helicopter system is highly nonlinear, coupled and sensitive. For simplicity, only vertical flight motion is focused on here. This type of system has...
In this paper, a nonlinear adaptive backstepping design control scheme is proposed for the trajectory tracking control of flexible-joint robotic manipulators. The difference between flexible-joint and common robotic manipulators is the occurrence of angular errors between motor rotation and link movement In many cases, the end of the link is required to move from one place to another and follows various...
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