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	Tight-Space Maneuvering of a Hybrid-Driven Robotic Fish Using Backstepping-Based Adaptive Control 期刊论文 OAI收割 IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 页码: 13 作者: Li, Sijie; Wu, Zhengxing; Dai, Shijie; Wang, Jian; Tan, Min \| 收藏 \| 浏览/下载：19/0 \| 提交时间：2024/02/22 Robots Propellers Robot kinematics Robot sensing systems Propulsion Mechatronics Hydrodynamics 3-D path following backstepping-based adaptive control depth control hybrid drive robotic fish
	Adaptive Control of a Two-Link Robot Using Batch Least-Square Identifier 期刊论文 OAI收割 IEEE/CAA Journal of Automatica Sinica, 2021, 卷号: 8, 期号: 1, 页码: 86-93 作者: Mostafa Bagheri; Iasson Karafyllis; Peiman Naseradinmousavi; Miroslav Krstić \| 收藏 \| 浏览/下载：19/0 \| 提交时间：2021/04/09 Backstepping least-square identifier robot manipulators trigger-based adaptive control
	Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload (EI CONFERENCE) 会议论文 OAI收割 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010, Changchun, China 作者: Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：24/0 \| 提交时间：2013/03/25 Two manipulators handling a flexible payload are studied based on adaptive backstepping control theory. Considering the complexity of the dynamic model the obtained model is divided into a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by singular perturbation theory. A cooperative controller is designed based on adaptive backstepping control. The slow subsystem can complete system trajectory tracking performance. The fast subsystem can suppress the elastic vibration of the system. Stability of the system is proved by using Lyapunov stability theory. The validity of the proposed scheme is demonstrated by simulations. 2010 IEEE.