Composite adaptive control for bilateral teleoperation systems without persistency of excitation
نویسندگان
چکیده
منابع مشابه
Model reference composite learning control without persistency of excitation
Parameter convergence is desirable in adaptive control as it brings several attractive features, including accurate online modelling, exponential tracking, and robust adaptation without parameter drift. However, a strong persistent-excitation (PE) condition must be satisfied to guarantee parameter convergence in the conventional adaptive control. This study proposes a model reference composite ...
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ژورنال
عنوان ژورنال: Journal of the Franklin Institute
سال: 2020
ISSN: 0016-0032
DOI: 10.1016/j.jfranklin.2019.04.001