Adaptive Neural Impedance Control of a Robotic Manipulator with Input Saturation

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Volumn 46, Issue 3, 2016, Pages 334-344

  He, Wei ^a   Dong, Yiting ^a   Sun, Changyin ^b  

^a UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA   (China)

^b SOUTHEAST UNIVERSITY   (China)

Author keywords

Adaptive neural network (NN) control; impedance control; input saturation; learning control; nonlinear system; robot

Indexed keywords

CONTROLLERS; FLEXIBLE MANIPULATORS; NONLINEAR SYSTEMS; RADIAL BASIS FUNCTION NETWORKS; ROBOTICS; ROBOTS;

ADAPTIVE NEURAL NETWORK CONTROLS (ANNC); EXTENSIVE SIMULATIONS; IMPEDANCE CONTROL; IMPEDANCE CONTROLLERS; INPUT SATURATION; LEARNING CONTROL; RADIAL BASIS FUNCTION NEURAL NETWORKS; ROBOTIC MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS;

EID: 84962877345     PISSN: 21682216     EISSN: 21682232     Source Type: Journal    
DOI: 10.1109/TSMC.2015.2429555     Document Type: Article

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