Prescribed Performance-tangent Barrier Lyapunov Function for Adaptive Neural Backstepping Control of Variable Stiffness Actuator with Input and Output Constraints
Yu Xia, Junyang Li, Yankui Song, Jiaxu Wang, Yanfeng Han, Ke Xiao
Topics & Concepts
Control theory (sociology)BacksteppingHyperbolic functionLyapunov functionRobustness (evolution)Artificial neural networkActuatorTracking errorJacobian matrix and determinantAdaptive controlComputer scienceLinearizationDifferentiatorMathematicsNonlinear systemFilter (signal processing)Control (management)Applied mathematicsMathematical analysisQuantum mechanicsPhysicsChemistryBiochemistryGeneComputer visionArtificial intelligenceMachine learningProsthetics and Rehabilitation RoboticsMechanical Circulatory Support DevicesMuscle activation and electromyography studies