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An adaptive sliding mode controller for a class of MIMO Euler-Lagrange systems with variable parameters

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This paper presents a method to synthesize the adaptive sliding mode controller for a class of MIMO Euler-Lagarance systems with variable parameters. We perform a Taylor series expansion of a class of MIMO Euler-Lagarance systems into nonlinear state-space equations, considering cases of varying parameters and unmeasured external disturbances. |

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Ebook CRC Press - Robotics and automation handbook (5th edition): Part 2
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