Adaptive Time-Varying Barrier Lyapunov Function-Based Model-Free Hybrid Position/Force Control for Series Elastic Actuator-Based Manipulator.
Yangchun WeiHaoping WangYang TianPublished in: IEEE Trans. Circuits Syst. II Express Briefs (2024)
Keyphrases
- position control
- force control
- impedance control
- lyapunov function
- control law
- model free
- robot manipulators
- closed loop
- adaptive control
- tracking error
- control strategy
- nonlinear systems
- optimal control
- control scheme
- control method
- control system
- reinforcement learning
- robotic manipulator
- visual servoing
- control algorithm
- end effector
- sufficient conditions
- inverse kinematics
- neural network
- control strategies
- function approximation
- mathematical model
- robotic systems
- linear matrix inequality
- real time
- dc motor
- control parameters
- autonomous robots
- motion planning