Guoyun Dai

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Articles

Adaptive constraint-following control for maintenance robotic manipulator with uncertainties

May 26, 2026 |

By Yuze Ma, Da Xu, Zhaoyang Wang, Guoyun Dai

| Nature

Abstract To enhance the reliability and motion stability of the maintenance robotic manipulator system for armored vehicles, we propose a novel adaptive robust control methodology based on the Udwadia-Kalaba (UK) dynamic framework.

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Adaptive constraint-following control for maintenance robotic manipulator with uncertainties

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