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- W2609391747 abstract "In this paper, an operator-based robust nonlinear tracking control for a human multi-joint arm-like manipulator with un- known time-varying delays is proposed by using robust right coprime factorization approach and a forward predictive operator. That is, first, considering the uncertainties of dynamic model consist of measurement error and disturbances, a nonlinear feedback con- trol scheme is designed to eliminate effect of uncertainties. Second, an operator controller based on real measured data from human multi-joint arm viscoelasticity is presented to obtain desired motion mechanism of human multi-joint arm viscoelastic properties, the unknown time-varying delays are described by a delay operator, and the forward predictive operator is designed to compensate the effect of CNS during human multi-joint arm movements and to remove the effect of unknown time-varying delays while the real on- line measured data of human multi-joint arm viscoelasticity is fed to the designed operator controller. Finally, the effectiveness of the proposed design scheme is confirmed by the simulation results based on experimental data." @default.
- W2609391747 created "2017-05-05" @default.
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- W2609391747 date "2012-01-01" @default.
- W2609391747 modified "2023-09-25" @default.
- W2609391747 title "Operator-based Robust Nonlinear Tracking Control for A Human Multi-joint Arm-like Manipulator with Unknown Time-varying Delays" @default.
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