System identification: theory for the user
System identification: theory for the user
Stable adaptive systems
Application and comparison of on-line identification methods for flexible manipulator control
International Journal of Robotics Research
Exciting trajectories for the identification of base inertial parameters of robots
International Journal of Robotics Research
Robust adaptive control
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Modelling and Identification in Robotics
Modelling and Identification in Robotics
Robust Linear Control of Flexible Joint Robot Systems
Journal of Intelligent and Robotic Systems
An intelligent controller for a single link flexible joint manipulator
ECCE'10/ECCIE'10/ECME'10/ECC'10 Proceedings of the European conference of chemical engineering, and European conference of civil engineering, and European conference of mechanical engineering, and European conference on Control
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A new parametric observer for identifying the system parameters of a single-link flexible-joint manipulator is presented. The design achieves the desired goals provided two conditions are satisfied, i.e., the basis functions are linearly independent in terms of the steady-state trajectories and the parameter errors converge to some constants eventually. It can be incorporated with any a control scheme sustaining such steady-state trajectories. No acceleration signals are required. However, the motor inertia must be given a priori. Numerical study of the proposed scheme with a specific robust control law is undertaken to demonstrate its validity.