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A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees.
Efi Psomopoulou
Zoe Doulgeri
George A. Rovithakis
Nikos G. Tsagarakis
Published in:
IROS (2012)
Keyphrases
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real time
dynamic model
position control
neural network
robust stability
decision making
incomplete information
highly nonlinear
control system
dynamical systems
control algorithm
control architecture
feedback control