Prescribed Performance-tangent Barrier Lyapunov Function for Adaptive Neural Backstepping Control of Variable Stiffness Actuator with Input and Output Constraints
-
Published:2023-02-11
Issue:3
Volume:21
Page:975-992
-
ISSN:1598-6446
-
Container-title:International Journal of Control, Automation and Systems
-
language:en
-
Short-container-title:Int. J. Control Autom. Syst.
Author:
Xia Yu, Li Jun-YangORCID, Song Yan-KuiORCID, Wang Jia-Xu, Han Yan-Feng, Xiao Ke
Publisher
Springer Science and Business Media LLC
Subject
Computer Science Applications,Control and Systems Engineering
Reference54 articles.
1. B. Vanderborght, A. Albu-Schaeffere, A. Bicchi, E. Bürdet, D. G. Caldwell, R. Carloni, M. Catalano, O. Eiberger, W. Friedl, G. Ganesh, M. Garabini, M. Grebenstein, G. Grioli, S. Haddadin, H. Hoppner, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. van Damme, R. van Ham, L. C. Visser, and S. Wolf, “Variable impedance actuators: A review,” Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1601–1614, December 2013. 2. S. Wolf, G. Griolie, O. Eiberger, W. Friedl, M. Grebenstein, H. Höppner, E. Bürdet, D. G. Caldwell, R. Carloni, M. G. Catalano, D. Lefeber, S. Stramigioli, N. Tsagarakis, R. van Ham, B. Vanderborght, L. C. Visser, A. Bicchi, and A. Albu-Schäffer, “Variable stiffness actuators: Review on design and components,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2418–2430, 2016. 3. J. M. Gandarias, Y. Wang, A. Still, A. J. García-Cerezo, J. M. Gómez-de-Gabriel, and H. A. Wurdemann, “Open-loop position control in collaborative, modular Variable-Stiffness-Link (VSL) robots,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1772–1779, May 2020. 4. H. Q. Vu, X. Yu, F. Iida, and R. Pfeifer, “Improving energy efficiency of hopping locomotion by using a variable stiffness actuator,” IEEE/ASME Transactions on Mechatronics, vol. 21, no.1, pp. 472–486, February 2016. 5. A. Zhakatayev, M. Rubagotti, and H. A. Varol, “Energy-aware optimal control of variable stiffness actuated robots,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 330–337, April 2019.
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|