IDEAS home Printed from https://ideas.repec.org/a/hin/complx/5361246.html
   My bibliography  Save this article

Adaptive Neural Network Control of Serial Variable Stiffness Actuators

Author

Listed:
  • Zhao Guo
  • Yongping Pan
  • Tairen Sun
  • Yubing Zhang
  • Xiaohui Xiao

Abstract

This paper focuses on modeling and control of a class of serial variable stiffness actuators (SVSAs) based on level mechanisms for robotic applications. A multi-input multi-output complex nonlinear dynamic model is derived to fully describe SVSAs and the relative degree of the model is determined accordingly. Due to nonlinearity, high coupling, and parametric uncertainty of SVSAs, a neural network-based adaptive control strategy based on feedback linearization is proposed to handle system uncertainties. The feasibility of the proposed approach for position and stiffness tracking of SVSAs is verified by simulation results.

Suggested Citation

  • Zhao Guo & Yongping Pan & Tairen Sun & Yubing Zhang & Xiaohui Xiao, 2017. "Adaptive Neural Network Control of Serial Variable Stiffness Actuators," Complexity, Hindawi, vol. 2017, pages 1-9, November.
    • Handle: RePEc:hin:complx:5361246
    DOI: 10.1155/2017/5361246
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2017/5361246.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/8503/2017/5361246.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2017/5361246?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    References listed on IDEAS

    as
    1. Bin Xu & Pengchao Zhang, 2017. "Minimal-Learning-Parameter Technique Based Adaptive Neural Sliding Mode Control of MEMS Gyroscope," Complexity, Hindawi, vol. 2017, pages 1-8, July.
    2. Rong Mei & ChengJiang Yu, 2017. "Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation," Complexity, Hindawi, vol. 2017, pages 1-12, August.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Zhijia Zhao & Yonghao Ma & Guiyun Liu & Dachang Zhu & Guilin Wen, 2019. "Vibration Control of an Axially Moving System with Restricted Input," Complexity, Hindawi, vol. 2019, pages 1-10, January.
    2. Bin Xu & Pengchao Zhang, 2017. "Composite Learning Sliding Mode Control of Flexible-Link Manipulator," Complexity, Hindawi, vol. 2017, pages 1-6, August.
    3. Yue, Xiaohui & Shao, Xingling & Li, Jie, 2021. "Prescribed chattering reduction control for quadrotors using aperiodic signal updating," Applied Mathematics and Computation, Elsevier, vol. 405(C).
    4. Shouyan Chen & Tie Zhang & Yanbiao Zou & Meng Xiao, 2019. "Model Predictive Control of Robotic Grinding Based on Deep Belief Network," Complexity, Hindawi, vol. 2019, pages 1-12, March.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:5361246. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.