PID type robot joint position regulation with prescribed performance guaranties

Zoe Doulgeri, Yiannis Karayiannidis. PID type robot joint position regulation with prescribed performance guaranties. In IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010. pages 4137-4142, IEEE, 2010. [doi]

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