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Singular perturbation-based saturated adaptive control for underactuated Euler-Lagrange systems 期刊论文
ISA TRANSACTIONS, 2022, 卷号: 119, 页码: 74-80
Authors:  Sun, Tairen;  Zhang, Xuexin;  Yang, Hongjun;  Pan, Yongping
Favorite  |  View/Download:172/0  |  Submit date:2021/12/28
Underactuated system  Euler-Lagrange system  Compliant robot  Nonlinear control  Adaptive control  Control saturation  Output regulation  
Composite Learning Enhanced Neural Control for Robot Manipulator With Output Error Constraints 期刊论文
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2021, 卷号: 17, 期号: 1, 页码: 209-218
Authors:  Huang, Dianye;  Yang, Chenguang;  Pan, Yongping;  Cheng, Long
Favorite  |  View/Download:212/0  |  Submit date:2021/01/06
Manipulator dynamics  Uncertainty  Informatics  Service robots  Lyapunov methods  Barrier Lyapunov function (BLF)  composite learning (CL)  output error constraints  radial basis function neural network  robot manipulators