Superiority of q-Chlodowsky operators versus fuzzy systems and neural networks: Application to adaptive impedance control of electrical manipulators

作者：

Highlights：

• A less computational q-Chldowsky-based adaptive impedance control is proposed.

• A novel application of q-Chlodowsky operators is presented as universal approximators.

• A model-free observer is designed to replace the task-space velocity measurements.

• The superiority of the proposed q-Chlodowsky operators-based scheme is validated.

摘要

•A less computational q-Chldowsky-based adaptive impedance control is proposed.•A novel application of q-Chlodowsky operators is presented as universal approximators.•A model-free observer is designed to replace the task-space velocity measurements.•The superiority of the proposed q-Chlodowsky operators-based scheme is validated.

论文关键词：Adaptive impedance control,Universal approximator,q-Chlodowsky operator,Model–free observer,Function Approximation Technique (FAT)

论文评审过程：Received 31 August 2021, Revised 10 July 2022, Accepted 19 July 2022, Available online 25 July 2022, Version of Record 2 August 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.118249