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Published in 2021 at "Robotica"
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…
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Keywords:
fourier series;
controller;
tracking controller;
adaptive regressor ... See more keywords