Adaptive Neural Control for Safe Human-Robot Interaction
This thesis studies safe human-robot interaction utilizing the neural adaptive control design. First, novel tangent and secant barrier Lyapunov functions are constructed to provide stable position and velocity constrained controls, respectively. Then, neural backpropagation and the concept of the in...
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| Format: | Thesis |
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Curtin University
2017
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| Online Access: | http://hdl.handle.net/20.500.11937/68285 |