In this brief, an adaptive time-varying barrier Lyapunov function-based model-free hybrid position/force controller (ABLF-MFC) is designed for a series elastic actuator (SEA)-based 2-link manipulator.

SSA, or Singular Spectrum Analysis, is designed to solve a wide array of problems related to the study of one-dimensional time series. While there are extensions for two-dimensional time series and ...

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