Stable Adaptive Neural Network Control
Stable Adaptive Neural Network Control
Adaptive Systems with Reduced Models
Adaptive Systems with Reduced Models
Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping
Journal of Intelligent and Robotic Systems
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Brief paper: Distributed finite-time attitude containment control for multiple rigid bodies
Automatica (Journal of IFAC)
Robust backstepping control of nonlinear systems using neural networks
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Neural Networks
Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
| Hi-index | 12.05 |
This study presents a distributed adaptive containment control approach for a group of uncertain flexible-joint (FJ) robots with multiple dynamic leaders under a directed communication graph. The leaders are neighbors of only a subset of the followers. The derivatives of the leaders are unknown, namely, the position information of the leaders is only available for implementing the proposed control approach. The local adaptive dynamic surface containment controller for each follower is designed using only neighbors' information to guarantee that all followers converge to the dynamic convex hull spanned by the dynamic leaders. The function approximation technique using neural networks is employed to estimate the model uncertainties of each follower. It is proved that the containment control errors converge to an adjustable neighborhood of the origin regardless of model uncertainties and the lack of shared communication information. Simulation results for FJ manipulators are provided to illustrate the effectiveness of the proposed adaptive containment control scheme.