The adaptive neural network sliding mode control for angle/force tracking of the dexterous hand
In order to achieve high precision control of the dexterous hand, an adaptive neural network sliding mode control algorithm based on the U-K (Udwadia-Kalaba) equation is proposed. Firstly, based on the U-K equation and considering the ideal and non-ideal constrained force at each link of the dextero...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-08-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878140211038096 |