In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics ...In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.展开更多
Following publication of the original article[1],the statement of Data availability and Competing interests have been added.Data availability The datasets used and analyzed during this study are available from the cor...Following publication of the original article[1],the statement of Data availability and Competing interests have been added.Data availability The datasets used and analyzed during this study are available from the corresponding author upon reasonable request.展开更多
文摘In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.
文摘Following publication of the original article[1],the statement of Data availability and Competing interests have been added.Data availability The datasets used and analyzed during this study are available from the corresponding author upon reasonable request.
