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Modeling, analysis, and adaptive neural modified-backstepping control of an uncertain horizontal pendubot with double flexible joints

  • Published:2023-10 Issue: Volume:139 Page:105647
  • ISSN:0967-0661
  • Container-title:Control Engineering Practice
  • language:en
  • Short-container-title:Control Engineering Practice

Author:

Yan ZeORCID,Lai XuzhiORCID,Meng QingxinORCID,Wu MinORCID,She JinhuaORCID,Iwasaki MakotoORCID

Funder

Natural Science Foundation of Hubei Province

China Scholarship Council

China University of Geosciences, Wuhan

Young Scientists Fund

Higher Education Discipline Innovation Project

Natural Science Foundation for Young Scientists of Shanxi Province

Publisher

Elsevier BV

Subject

Applied Mathematics,Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

Reference50 articles.

1. Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems;Bullo;IEEE Transactions on Robotics and Automation,2001

2. A simple approach on global control of a class of underactuated mechanical robotic systems;Chen,2019

3. Disturbance-observer-based control and related methods—An overview;Chen;IEEE Transactions on Industrial Electronics,2016

4. Adaptive neural backstepping control for flexible-joint robot manipulator with bounded torque inputs;Cheng;Neurocomputing,2021

5. Adaptive backstepping control for flexible-joint manipulator using interval type-2 fuzzy neural network approximator;Dian;Nonlinear Dynamics,2019

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