Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems
To address the uncertainty existing in underactuated mechanical systems (UMSs) and their nonholonomic servo constraints, we propose a class of adaptive robust control based on the Moore-Penrose generalized inverse for UMSs in this paper. The uncertainty is considered as (possible fast) time-varying...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8886370/ |