Chandan Kumar Sah

Real-Time Constrained Tracking Control of Redundant Manipulators Using a Koopman-Zeroing Neural Network Framework

This letter proposes a combined Koopman-ZNN (Zeroing Neural Network) architecture for real-time control of redundant manipulators subject to input constraints. An autoencoder-based neural architecture is employed to discover the bilinear Koopman model for manipulator dynamics in joint space using in