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="M461" 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="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg>.</span></div>

Complexity

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Figure 9

Figure 9: Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot 