Adaptive gain sliding observer based sliding controller for uncertain parameters nonlinear systems. Application to flexible joint robots

Adrian Filipescu, Luc Dugard, Jean-Michel Dion. Adaptive gain sliding observer based sliding controller for uncertain parameters nonlinear systems. Application to flexible joint robots. In 42nd IEEE Conference on Decision and Control, CDC 2003, Maui, Hawaii, USA, December 9-12, 2003. pages 3537-3542, IEEE, 2003. [doi]

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