This paper presents a new exponentially stable direct adaptive control law for motion control
of robot manipulators. This control law utilizes the desired trajectory information instead of …

The digital implementation of two repetitive control schemes on a SCARA-type two-axes
manipulator is described. The controllers consist of a linear proportional and derivative …

In this paper we examine the application of repetitive control schemes for robot
manipulators. The controllers consist of a fixed PD action and a repetitive action for feed …

This article addresses the stability and performance of dis cretized adaptive control
algorithms for robotic manipulator control and the compensation of these algorithms for …

In this work we present a new technique based on object boundary analysis for recognizing
three-dimensional objects via a vector wavelet analysis. Vector wavelets are employed as …

This paper addresses the stability and performance of discretized adaptive control
algorithms for robotic manipulator control, and the compensation of these algorithms for …

This dissertation is concerned with the development of a robust control scheme for singularly
perturbed uncertain systems, and the application of the robust control to direct drive robotic …

The development and evaluation of both adaptive primary (inner-loop) and robust
secondary (output-loop) model-based controllers is discussed. Previous case studies …

In this report, we present a hybrid discrete/continuous time version of the observer-based
adaptive control system for MEMS gyroscopes developed in [8], which can be readily …

Although previous case studies rigorously investigated the feasibility of implementing
passivity-based inner loop adaptation on an industrial manipulator, an unanswered question …