Neuro-adaptive command-filtered backstepping control of uncertain flexible-joint manipulators with input saturation via output

Neuro-adaptive command-filtered backstepping control of uncertain flexible-joint manipulators with input saturation via output

Abstract This paper addresses the challenging problem of precise trajectory tracking control for flexible-joint manipulators (FJMs) operating under intricate uncertainties, input-saturation constraints, and limited state feedback. Existing control strategies failed to simultaneously resolve the issu...

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Bibliographic Details
Main Authors: Changzhong Pan, Hao Huang, Chaoyang Chen, Lianghong Wu, Jinsen Xiao
Format: Article
Language:English
Published: Nature Portfolio 2025-05-01
Series:Scientific Reports
Subjects:
Flexible-joint manipulators
Backstepping control
Output feedback
State observer
Neural network
Input saturation
Online Access:https://doi.org/10.1038/s41598-025-00988-2
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