@inproceedings{36264afbcf0d42aaa542ba86c1469975,
title = "Data-Driven Pose Tracking Control for Model-Free Robotic Manipulators",
abstract = "This paper proposes a data-driven pose tracking control scheme for model-free robotic manipulators. First, a kinematic control model is developed and formulated as a fully actuated system (FAS). Subsequently, a novel data-driven scheme is developed to estimate the Jacobian matrix online without requiring any prior model information. Furthermore, a proportional controller is designed, which incorporates the estimated Jacobian into the feedback control loop and ensures bounded tracking error. Simulation experiments are conducted to verify the effectiveness and superiority of the proposed method.",
keywords = "Data-driven control, Fully actuated system, Jacobian estimation, Pose tracking, Robotic manipulator",
author = "Xiaohan Bai and Feng Tan and Mingzhe Hou",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",
year = "2026",
doi = "10.1109/FASTA70174.2026.11548756",
language = "英语",
series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1950--1954",
booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
address = "美国",
}