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ADAPTIVE CONTROL OF THE ELECTROHYDRAULIC POSITION SERVO SYSTEM OF THE JOINT OF ROBOT
Author(s): 
Pages: 60-66
Year: Issue:  1
Journal: Aerospace Control

Keyword:  RobotAdaptive controlServo system;
Abstract: This paper proposes a simple but effective control method based on Lyapunov stable theory, named Model Reference Adaptive control (MRAC), to improve the control quality of the electrohydraulic position servo system for robot. Experiments show that the dynamic performance and position accutacy can be improved greatly, also, the following ability of the system is increased.
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