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In this work, a novel adaptive iterative learning control scheme is designed for robot manipulators with uncertain parameter and external perturbation under alignment condition. The analysis of convergence of proposed control law is based on composite energy function in the iteration domain containing position tracking error, velocity tracking error and parameter estimation error along both the time...
Design of adaptive observers has been an active field in the systems theory. Until know, most of the existing solutions use a class of regular form with a set of unknown parameters. A different scheme used an estimation of external perturbations that can be compensated by the adaptive gain associated to the observer. In this paper, the presence of external perturbations for a model defined by a chain...
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