3 papers
cs.RO2023
Data-Driven Modeling and Analysis of Transmission Error in Harmonic Drive Systems: Nonlinear Dynamics, Error Modeling, and Compensation Techniques
Ju Wu
Harmonic drive systems (HDS) are high-precision robotic transmissions featuring compact size and high gear ratios. However, issues like kinematic transmission errors hamper their p…
eess.SY2023
Adaptive Fuzzy Tracking Control for Nonlinear State Constrained Pure-Feedback Systems With Input Delay via Dynamic Surface Technique
Ju Wu, Tong Wang
This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem…
eess.SY2023
Finite-Time Adaptive Fuzzy Tracking Control for Nonlinear State Constrained Pure-Feedback Systems
Ju Wu, Tong Wang, Min Ma
This paper investigates the finite-time adaptive fuzzy tracking control problem for a class of pure-feedback system with full-state constraints. With the help of Mean-Value Theorem…