Robust Adaptive Neural Control for a Robotic System with Performance Degradation of Actuators


It is useful and effective that actuator torque coefficients applied at each joint are bounded nonlinear time-varying, rather than normally unity all the time. The bounded nonlinear time-varying actuator torque coefficients as well as uncertainties may cause performance degradation of the robot or the actuators in a robotic system. This work presents a… (More)


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