Jing Na

TL;DR: A performance function characterizing the convergence rate, maximum overshoot, and steady-state error is used for the output error transformation, such that stabilizing the transformed system is sufficient to achieve the tracking control of the original system with a priori prescribed performance.

TL;DR: A robot control/identification scheme to identify the unknown robot kinematic and dynamic parameters with enhanced convergence rate was developed, and the information of parameter estimation error was properly integrated into the proposed identification algorithm, such that enhanced estimation performance was achieved.

TL;DR: In this article, the adaptive parameter estimation and control for nonlinear robotic systems based on parameter estimation errors is studied, where three adaptive laws driven by the estimation error are presented, where exponential error convergence is proved under the conventional persistent excitation (PE) condition; the direct measurement of the time derivatives of the system states are avoided.

TL;DR: An adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object.

TL;DR: This paper presents a novel adaptive control design for nonlinear pure-feedback systems without using backstepping by introducing a set of alternative state variables and the corresponding transform, which can be viewed as output-feedingback control of a canonical system.