@inproceedings{22194d0b04724b9782e8f47c8def7a32,
title = "Prescribed-Time Control of Flexible Joint Robotic Based on Neural Network",
abstract = "This paper proposes a neural network (NN) based adaptive prescribed-time sliding mode controller for flexible joint robotic (FJR) manipulators. By employing the singular perturbation technique, the original high-order system is decomposed into two lower-order subsystems. An NN is employed to estimate uncertainties within the FJR system, trained using a parameter identification algorithm (PIA). Subsequently, a prescribed-time sliding mode controller is developed for each subsystem to ensure that the tracking error converges within a predefined time and follows a given reference trajectory. The stability of the prescribed-time controller is rigorously established using Lyapunov analysis. Simulation and comparative experiments validate the effectiveness and superiority of the proposed method.",
keywords = "Flexible joint robot, Neural network, Prescribed-time control, Singular perturbation technique",
author = "Xinpeng Ge and Zheng, \{Dong Dong\} and Xuemei Ren and Zeyuan Sun",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 4th International Conference on Neuromorphic Computing, ICNC 2025 ; Conference date: 12-12-2025 Through 14-12-2025",
year = "2026",
doi = "10.1007/978-981-92-1599-7\_19",
language = "English",
isbn = "9789819215980",
series = "Communications in Computer and Information Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "220--230",
editor = "Chuandong Li and Qi Zhou and Hongjing Liang and Jingang Lai and Bin Li and Kaibo Shi",
booktitle = "Neuromorphic Computing - 4th International Conference, ICNC 2025, Revised Selected Papers",
address = "Germany",
}