Servo actuated mechanisms are recurrent for learning and training in low cost robotics. This research addresses the objective of speed tracking control (velocity tracking) in a velocity servo model, taking into account the challenge of parametric uncertainty in the model. To tackle this issue, a smooth adaptive controller is proposed and investigated. The analysis of the resulting nonlinear error model is performed via Lyapunov's direct method to show stability and control objective achievement globally.
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Kelly et al. (2024) studied this question.
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