Redundant manipulators have been investigated and employed in various fields, and its
trajectory tracking is of much importance in the field of robotic control. In this article, a model …

In this article, a simultaneous learning and control scheme built on the joint velocity level
with physical constraints on the decision variable and its derivative, ie, joint angle, joint …

Path planning obtains the trajectory from one point to another with the robot's kinematics
model and environment understanding. However, as the localization uncertainty through the …

The integration and interaction of proprioception and exteroception in the human
multisensory network facilitate high-level cognitive functionalities, such as cross-modal …

This article studies a prescribed performance adaptive robust control (PPARC) scheme for
uncertain robotic manipulators. First, a state transformation is introduced to embed the …

As humans focus control only on task–space variables to achieve dexterous manipulation,
robots could strongly profit from advanced task-space control, which is still blocked by …

Due to the redundancy, the kinematic control of redundant manipulators is a knotty issue in
the field of robotics. The cerebellar computation sheds a new light on controlling redundant …

Sliding mode control strategies have been widely used for tracking robot manipulators and
have demonstrated their effectiveness. However, certain issues still persist. One of them is …

In this paper, a nonlinear functional observer (NFO) is first proposed for the control design of
robot manipulators under model uncertainties, external disturbances, and a lack of joint …

This study addresses the demands for adaptability, uncertainty management, and high
performance in the control of space manipulators, and the inadequacies in achieving …