H.M. Schwartz and S. Islam (Canada)
Adaptive Control, Output Feedback, Robotics
This paper reviews and investigates the method proposed by Canudas De Wit and Fixot [1] for nonlinear output feed back adaptive control for robot manipulators. The theoreti cal concepts are analyzed and the critical assumptions that are made are clearly elucidated. Difficulties within the the oretical developments are noted and highlighted. Further difficulties associated with the design synthesis are illus trated. Simulation of a robot manipulator is used to demon strate the theoretical difficulties and the practical issues.
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