This repository contains a MATLAB/Simulink project for modeling, simulating, and controlling the Sawyer robot, a 7-DOF robotic manipulator. The project is divided into four parts: Kinematics, Dynamics ...

Abstract: This manuscript presents an algorithm for obtaining an approximation of a nonlinear high order control affine dynamical system. Controlled trajectories of the system are leveraged as the ...

Abstract: This article introduces a nonlinear adaptive proportional-integral-derivative (PID) tracking control methodology suitable for a class of multi-in-multi-out nonlinear systems. By ...

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