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What is Adaptive Neural Network Tracking Control of Flexible-Joint Robots With Guaranteed Tracking Performance about?

This research presents an adaptive neural network tracking control (ANNTC) strategy for flexible-joint robots (FJRs) that ensures robust tracking performance while addressing limitations of previous methods. The proposed controller utilizes dynamic surface control (DSC) and minimal learning parameter (MLP) techniques to reduce computational complexity and maintain bounded tracking errors within the L1 norm. Simulation and experimental results demonstrate the effectiveness of the controller in managing uncer

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wpy041029wpy

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EN