In this project, I simulated various control strategies in MATLAB Simulink for a two-link revolute-joint planar robot. The figures illustrate the outcomes of the applied control algorithms. These figures enable us to compare the control algorithms and select the best controller for a given application.
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Inverse Dynamics, PD, Passivity based, passivity-Based Adaptive and Passivity-Based Robust Control of a two-link revolute-joint planar robot
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