Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

Figure 3

The proposed error-based adaptive controller (E-BAC): 𝑥₂(𝑡)=𝑥̇₁(𝑡). 𝐾_𝑝(𝑒,𝑡) and 𝐾_𝑣(𝑒,𝑡) are defined in (8) and (12).