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Abstract
In this paper the new control approach for a class of nonlinear MIMO systems with unknowns is proposed. The mathematical model is divided on two parts: static MIMO transformation and a few SISO channels that allows to design the control law in two steps. At the first step we design the virtual controls for each SISO channel and then after the inverse MIMO transformation we propose the control law for considered system. In the paper the recent advantages in the development of adaptive output control approach using high-gain principle named by the authors as “consecutive compensator” is applied for SISO channels. We present the robotic research setup designed for analysis of control algorithms oriented to complex technical objects. This setup is a model of real plant with similar constraints for developers: parametric uncertainty, delay, disturbances, and bounded control.
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