Event-Triggered Adaptive Neural Tracking Control of Flexible-Joint Robot Systems With Input Saturation

Event-Triggered Adaptive Neural Tracking Control of Flexible-Joint Robot Systems With Input Saturation

This paper investigates an event-triggered adaptive neural tracking control issue for flexible-joint robot (FJR) systems subject to unknown dynamic and input saturation. To enable the backstepping design framework to be implemented, the input saturation nonlinearity is replaced by a smooth function....

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Bibliographic Details
Main Authors: Xinglei Xu, Shiwei Xu
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Flexible-joint robot
adaptive neural tracking control
event triggering control
input saturation
dynamic surface control
Online Access:https://ieeexplore.ieee.org/document/9760475/

Internet

https://ieeexplore.ieee.org/document/9760475/

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