Adaptive Neural Control for Safe Human-Robot Interaction

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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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Bibliographic Details
Main Author:	Rahimi Nohooji, Hamed
Format:	Thesis
Published:	Curtin University 2017
Online Access:	http://hdl.handle.net/20.500.11937/68285

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