An Adaptive Regressor-Free Fourier Series-Based Tracking Controller for Robot Manipulators: Theory and Experimental Evaluation
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DOI: 10.1017/s0263574721000084
Abstract: SUMMARY In this article, we propose a nonlinear Proportional+Derivative (PD) tracking controller with adaptive Fourier series compensation. The proposed controller uses a regressor-free adaptive scheme that relies on a trigonometric polynomial with varying coefficients to… read more here.
Keywords: fourier series; controller; tracking controller; adaptive regressor ... See more keywords