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Precise tracking of underwater electric manipulator via model-based adaptive robust control with joint-friction

Xincheng Hu1, Chong Shen1, Fanghao Huang1

  • 1State Key Laboratory of Ocean Sensing, Zhejiang University, Hangzhou, 310058, China; Ocean College, Zhejiang University, Zhoushan, 316021, China.

ISA Transactions
|July 17, 2025
PubMed

Keywords:
Adaptive robust controlJoint-friction compensationParameter identificationUnderwater electric manipulator

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