Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot

<div>The convergence of partial NN weights <span class="nowrap"><svg height="15.1057pt" id="M462" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -11.9242 15.8635 15.1057" width="15.8635pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.292,-2.897)"><path d="M846 558C704 595 559 633 434 679H412C288 633 141 595 0 558L8 532L423 607L838 532L846 558Z" id="g119-106"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M962 650H739L732 622L760 619C812 613 819 604 798 552C760 457 671 267 606 131H604L511 638H480L237 131H233L183 554C177 607 183 614 226 619L248 622L257 650H24L17 622C88 615 92 611 103 524L173 -11H203L450 491H453L543 -11H575L839 529C882 609 886 613 953 622L962 650Z" id="g113-88"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.777,3.132)"><path d="M462 177V227H365V632H320C217 496 116 350 21 208V177H284V109C284 43 280 38 190 31V0H451V31C369 38 365 43 365 108V177H462ZM284 227H88C155 336 218 430 282 519H284V227Z" id="g50-53"></path></g></svg>.</span></div>

Complexity

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Figure 10

Figure 10: Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot 