The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Abstract
In this paper, adaptive impedance control is developed for an n-link robotic manipulator with input saturation by employing neural networks. Both uncertainties and input saturation are considered in the tracking control design. In order to approximate the system uncertainties, we introduce a radial basis function neural network controller, and the input saturation is handled by designing an auxiliary system. By using Lyapunov's method, we design adaptive neural impedance controllers. Both state and output feedbacks are constructed. To verify the proposed control, extensive simulations are conducted.
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Citations
Cites
The central nervous system stabilizes unstable dynamics by learning optimal impedance
Burdet, E., Osu, R., Franklin, D. W., Milner, T. E., & Kawato, M. (2001) · Nature · doi:10.1038/35106566 · Cited by 1,097
Cited by
Cui, R., Yang, C., Li, Y., & Sharma, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2645699 · Cited by 538
Neural Networks-Based Adaptive Control for Nonlinear State Constrained Systems With Input Delay
Li, D.-P., Liu, Y.-J., Tong, S., Chen, C. L. P., & Li, D.-J. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2799683 · Cited by 382
Adaptive Neural Network Control of a Robotic Manipulator With Time-Varying Output Constraints
He, W., Huang, H., & Ge, S. S. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2711961 · Cited by 361
Self-citationAdaptive Controller Design-Based ABLF for a Class of Nonlinear Time-Varying State Constraint Systems
Liu, Y.-J., Lu, S., Li, D., & Tong, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2633007 · Cited by 284
RISE-Based Asymptotic Prescribed Performance Tracking Control of Nonlinear Servo Mechanisms
Wang, S., Na, J., & Ren, X. (2018) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2017.2769683 · Cited by 159
Metadata
- Authors
- He, W., Dong, Y., & Sun, C.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics: Systems
- Published
- 2016-03
- Volume
- 46
- Issue
- 3
- Pages
- 334-344
- ISSN
- 2168-2216 (ISSN-L)
- 2168-2232
- OpenAlex
- W2253274025
- Cited by
- 790
- References
- 1
- FWCI
- 107.02
- Type
- journal article
- Language
- en
- Open access
- closed
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- He, W., Dong, Y., & Sun, C. (2016). Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation. IEEE Transactions on Systems, Man, and Cybernetics: Systems. https://doi.org/10.1109/tsmc.2015.2429555
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