In this paper, a new approach of tracking control is investigated for the 7000-m Jiaolong
manned submarine vehicle (MSV). First, the formulation of control allocation problem and …

In the conventional adaptive neural network control of robotic manipulator, the desired
position of robot end effector is specified as a point or trajectory. In addition, it is usually …

During the bricklaying process, the wall-building robot is not only affected by viscoelastic
contact force, but also affected by dynamic modeling errors and external disturbances, which …

In this paper, a novel compensator-critic structure-based neuro-optimal control approach is
presented for modular robot manipulators (MRMs) in contact with uncertain environments …

This paper presents a decentralized robust zero-sum optimal control approach for modular
robot manipulators (MRMs) in contact with uncertain environments based on the adaptive …

A technical challenge of addressing the decentralized optimal control problem for modular
and reconfigurable robots (MRRs) during environmental contacts is associated with optimal …

Online environment dynamic estimates are often used for the control of robots, telerobots,
and haptic systems. The nonlinear Hunt-Crossley (HC) model, which is physically consistent …

This paper presents a new approach to construct neural adaptive control for uncertain
nonaffine systems. By integrating locally weighted learning with barrier Lyapunov function …

For automation tasks involving robotic manipulator that contacts with soft tissue such as
massage and robotic surgery, there are challenges posed by non-linearity, dynamic stiffness …

In this article, a decentralized control strategy is presented for harmonic drive–based
modular and reconfigurable robots with uncertain environment contact. Unlike conventional …