A backstepping-based adaptive impedance controller with Taylor-series and force-bound estimators achieves semi-global practical finite-time stability for robots in uncertain contact without requiring dynamic parameters.
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Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments
A backstepping-based adaptive impedance controller with Taylor-series and force-bound estimators achieves semi-global practical finite-time stability for robots in uncertain contact without requiring dynamic parameters.