An adaptive modular geometric controller for robotic manipulators achieves exponential stability in nominal cases and reduces RMS position error by at least 12.2% versus state-of-the-art methods in simulations while using similar effort.
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Adaptive Modular Geometric Control of Robotic Manipulators
An adaptive modular geometric controller for robotic manipulators achieves exponential stability in nominal cases and reduces RMS position error by at least 12.2% versus state-of-the-art methods in simulations while using similar effort.