@misc{Loria_Antonio_On,
 author={Loria, Antonio and Ortega, Romeo},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={The problem of (semi-global) trajectory tracking control of "rigid" and "flexible" joints robots using computed torque based controllers is considered. The paper contains two contributions; firstly, for rigid robots it is shown that velocity in the control algorithm can be replaced by the filtered position, thus obviating the explicit need for "state observers".},
 abstract={Secondly, it is shown that it is possible to achieve trajectory tracking of flexible joint robots "without calculating link jerk". Removing the need for observers and the determination of link jerk reduces the controller complexity and enhances its robustness with respect to parameter uncertainty and unmodelled dynamics.},
 type={artykuł},
 title={On tracking control of rigid and flexible joint robots},
 keywords={sterowanie, sterowanie-teoria, sztuczna inteligencja, matematyka stosowana, informatyka},
}