A5027002019- Adaptive Control of Nonlinear Systems
- Fuzzy Logic and Control Systems
- Prosthetics and Rehabilitation Robotics
- Teleoperation and Haptic Systems
- Mechanical Circulatory Support Devices
- Advanced Algorithms and Applications
- Distributed Control Multi-Agent Systems
- Iterative Learning Control Systems
- Muscle activation and electromyography studies
- Advanced Control Systems Optimization
- Stability and Control of Uncertain Systems
- Robot Manipulation and Learning
Chongqing University
2023-2025
Human-robot interaction (HRI) is a crucial component in the field of robotics, and enabling faster response, higher accuracy, as well smaller human effort, essential to improve efficiency, robustness, applicability HRI-driven tasks. In this article, we develop novel neuroadaptive admittance control with motion intention (HMI) estimation output error constraint for natural stable interaction. First, force information robot utilized predict HMI stiffness model dynamically updated based on...
Endowing robots with the ability to maintain precise interaction force is critical for performing control tasks in dynamic environments characterized by unknown and varying stiffness geometry, such as aircraft wing skins other thin, soft materials. This article presents an adaptive force-tracking admittance controller (AFTAC), ensuring tracking performance through meticulous design of both force-based outer loop position-based inner loop. First, a finite-time based on neural networks (NNs)...
Purpose This paper aims to design an event-triggered adaptive prescribed performance controller for flexible manipulators, with the primary objectives of achieving output constraints and addressing communication resource limitations. Design/methodology/approach The authors propose a novel barrier Lyapunov function (PP-BLF) that considers both tracking constraints. PP-BLF ensures system's output, transient behavior steady-state performance, adhere boundary is established by exponential decays...