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Roy, S. (author), Kosmatopoulos, Elias B. (author), Baldi, S. (author)In the presence of unmodelled dynamics and uncertainties with no a priori constant bounds, conventional robust adaptation strategies for switched systems cannot allow the control gains of inactive subsystems to remain constant during inactive intervals: vanishing gains are typically required in order to prove bounded stability. As a...journal article 2020
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Roy, S. (author), Baldi, S. (author)Available control methods for underactuated Euler–Lagrange (EL) systems rely on structure-specific constraints that may be appropriate for some systems, but restrictive for others. A generalized (structure-independent) control framework is to a large extent missing, especially in the presence of uncertainty. This paper introduces an adaptive...journal article 2020