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Abstract
The finite-time neural network adaptive control of under-actuated robot is investigated, and a kind of multistep control strategy is used. First the transformation of dynamics model is made, and the passive joints are driven to desire positions by the coupling among joints, then the passive joints are locked. When the passive joints are locked to other operating point, the system becomes the one with structure uncertain. Combining the theory of finite-time control with neural network adaptive control, a finite-time neural network adaptive controller is got which can make the position tracking of joint rapidly. The simulation shows the effectiveness of the controller.
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