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Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 53-466
Full Name: Alfa Beta
Position: Researcher
Age: ON
Sex: Male
Address: 13, ruse, varna
Country: BULGARIA
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Title of the Paper: A Mathematical Model for Control
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Number of paper pages: 10
Abstract: The control law involves error coordinates expressed in a coordinate frame which are partially linked to the robot. The construction of the controller is based on a two-layer structure using the principle of decomposition of the control problem. Assuming that the robot parameters are unknown but constant, for the inner (velocity) control loop, an adaptive control law is designed applying estimation-based approach. The design procedure and stability analysis of the closed-loop system is performed using Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller.
Keywords: Control, control law, error coordinates, coordinate frame, ship
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