A modular Lie-algebraic adaptive controller for serial flexible manipulators preserves the full PDE deformation model and proves exponential stability scalable to arbitrary chain lengths.
Ljung,System Identification: Theory for the User, 2nd ed
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Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
A modular Lie-algebraic adaptive controller for serial flexible manipulators preserves the full PDE deformation model and proves exponential stability scalable to arbitrary chain lengths.