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High-order control barrier functions-based impedance control of a robotic manipulator with time-varying output

Haijing Wang1, Jinzhu Peng1, Fangfang Zhang1

  • 1School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, Henan, China.

ISA Transactions
|February 22, 2022
PubMed

Keywords:
High-order control barrier functionImpedance controlQuadratic programRobotic manipulatorTime-varying output constraints

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