Adaptive Neural Backstepping Control for Harmonic Drive System Based on Modified LuGre Friction Model
To improve the control accuracy and stability of the harmonic drive system under the influence of nonlinear friction and external disturbances, we have developed an adaptive neural backstepping control approach with friction compensation. During the design process, we employ a nonlinear observer bas...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10238709/ |