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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  
Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion 期刊论文
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 卷号: 51, 期号: 7, 页码: 4193-4200
Authors:  Sun, Tairen;  Peng, Liang;  Cheng, Long;  Hou, Zeng-Guang;  Pan, Yongping
Favorite  |  View/Download:251/0  |  Submit date:2021/11/02
Approximate dynamic inversion (ADI)  impedance control  robot control  trajectory tracking  variable impedance  
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  
Learning impedance control of robots with enhanced transient and steady-state control performances 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2020, 卷号: 63, 期号: 9, 页码: 13
Authors:  Sun, Tairen;  Cheng, Long;  Peng, Liang;  Hou, Zengguang;  Pan, Yongping
Favorite  |  View/Download:210/0  |  Submit date:2020/09/07
robot  adaptive control  neural network  impedance control  parameter convergence  
Composite Learning Enhanced Robot Impedance Control 期刊论文
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2020, 卷号: 31, 期号: 3, 页码: 1052-1059
Authors:  Sun, Tairen;  Peng, Liang;  Cheng, Long;  Hou, Zeng-Guang;  Pan, Yongping
Favorite  |  View/Download:280/0  |  Submit date:2020/06/02
Impedance  Convergence  Robots  Stability criteria  Uncertainty  Parameter estimation  Adaptive control  composite adaptation  impedance control  learning control  parameter convergence  robot  
Semiglobal exponential control of Euler-Lagrange systems using a sliding-mode disturbance observer 期刊论文
AUTOMATICA, 2020, 卷号: 112, 页码: 5
Authors:  Sun, Tairen;  Cheng, Long;  Wang, Weiqun;  Pan, Yongping
Favorite  |  View/Download:262/0  |  Submit date:2020/03/30
Sliding mode control  Disturbance observer  Trajectory tracking  Euler-Lagrange systems