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The paper describes an advanced control technique that uses a self-adjusting controller. The technique allows changing control parameters of the manipulator according to different technological forces and disturbances acting to the end-effector of the manipulator while performing surface treatment construction operations such as cleaning and polishing. The system is asymptotically stable for the phase error and can be implemented on a base of existed industrial robots.
Gradetsky, V.
, Rachkov, M.
and Pushkin, M.
(2002),
Adaptive Control of a Construction Manipulator, Special Publication (NIST SP), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://doi.org/10.6028/NIST.SP.989
(Accessed October 7, 2025)