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Spatial Repetitive Impedance Learning Control for Robot-Assisted Rehabilitation 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 页码: 11
Authors:  Yang, Jiantao;  Sun, Tairen;  Cheng, Long;  Hou, Zeng-Guang
Favorite  |  View/Download:103/0  |  Submit date:2023/03/20
Adaptive control  impedance learning  iterative learning control  rehabilitation robot  repetitive learning control  robot control  spatial periodicity  
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:178/0  |  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:257/0  |  Submit date:2021/11/02
Approximate dynamic inversion (ADI)  impedance control  robot control  trajectory tracking  variable impedance  
Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2021, 卷号: 64, 期号: 7, 页码: 12
Authors:  Sun, Tairen;  Cheng, Long;  Hou, Zengguang;  Tan, Min
Favorite  |  View/Download:254/0  |  Submit date:2021/08/15
adaptive control  robot manipulator  disturbance observer  sliding mode  
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:215/0  |  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:283/0  |  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:266/0  |  Submit date:2020/03/30
Sliding mode control  Disturbance observer  Trajectory tracking  Euler-Lagrange systems