… the estimate of the E, and similarly, ˆDk stands for the estimate of Dk, and ˆFk stands for
the estimate of Fk. The … high and the dynamics of the self-tuning gain matrix is …

… The general objective of this study is to develop two learning-type adaptive regulatory …
to periodic disturbances with random frequency variations within a small range. The adaptive …

… in the sense that an adaptive estimation is performed for each … proposed control scheme
due to the straight line and periodic … trajectory tracked by the robot manipulator and the applied …

… A self-tuning adaptive fuzzy logic based repetitive learning … trajectories are periodic which
is the case when robotic arms … logic control, an adaptive update rule is designed to estimate …

… modern control theories (including adaptive control, sliding mode … However, this method is
limited because periodic motor … prerequisites of this inertia estimation method are still valid (it …

… A self-tuning controller is proposed for an articulated robot … articulated robot dynamics
exploiting the time-delay estimation (… \) switched adaptive control for a class of robot manipulators. …

… The PAM is actuated in periodic fashion to mimic walking … Parameter estimation process
can be viewed like a searching … However, the PAM manipulator possesses performance …

… 6, periodic spikes of tracking errors appear due to Coulomb friction and stiction at velocity …
Soto, and MA Llama, “Fuzzy selftuning PID semiglobal regulator for robot manipulators.” …

… In [14], an indirect discrete adaptive controller is used to control … The PAM is actuated in
periodic fashion to mimic walking … an unbiased estimation not only of the PAM manipulator but …

… Considering X is periodically changing with frequency of 6 Hz (6 times more than the …
designing an adaptive estimator with self-tuning the growth ratio of the adaptation rule emphasizing …