Command filtered backstepping control of constrained flexible joint robotic manipulator

Command filtered backstepping control of constrained flexible joint robotic manipulator

Abstract Here, an adaptive radial basis function (RBF) neural network (NN) backstepping controller is proposed for a class of input‐constrained flexible joint robotic manipulators represented by strict‐feedback form with unknown terms, external stochastic disturbance, and output disturbance. The pro...

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Bibliographic Details
Main Authors: Mohammad Mehdi Arefi, Navid Vafamand, Behrouz Homayoun, Mohammadreza Davoodi
Format: Article
Language:English
Published: Wiley 2023-12-01
Series:IET Control Theory & Applications
Subjects:
adaptive neural tracking control
command filter
flexible joint robotic manipulator
input saturation
minimal learning parameter
stochastic non‐linear systems
Online Access:https://doi.org/10.1049/cth2.12528

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