Foreword xi About the Authors xiii Preface xv Acknowledgments xxi Acronyms xxii Part I Introduction 1 1 Introduction to Continuum Robots and Theoretical Foundations 3 1.1 Introduction 3 1.2 Modeling Continuum Robots Using PCC 4 1.3 Neurodynamic Models 6 1.4 Chapter Summary 7 Part II Model-based Neurodynamic Methods 9 2 Analytical-Jacobian-based Neurodynamic Control Methods 11 2.1 Introduction 11 2.2 Model-based Kinematic Control 12 2.3 Simulative Verification 21 2.

4 Chapter Summary 26 Part III Model-free Neurodynamic Methods 27 3 Continuous-time Hybrid Neurodynamic Control Methods 29 3.1 Introduction 29 3.2 Model-free Kinematic Control 31 3.3 Simulative Verification 34 3.4 Chapter Summary 41 4 Discrete-time Neurodynamic Control Methods 43 4.1 Introduction 43 4.2 Method 44 4.3 Verification 48 4.

4 Chapter Summary 54 Part IV Model- and Inverse-free Zeroing Neurodynamics Methods 57 5 Quad Neurodynamic Control Methods 59 5.1 Introduction 59 5.2 Preliminary 62 5.3 Velocity-level Quad Neurodynamics 63 5.4 Acceleration-level Quad Neurodynamics 67 5.5 Verification of DQND4 73 5.6 Verification of ADQN 75 5.7 Chapter Summary 80 Part V Variants of Zeroing Neurodynamics Methods 81 6 Nonlinearly Activated Zeroing Neurodynamic Control Methods 83 6.

1 Introduction 83 6.2 Variants of ZND Models 84 6.3 Method 89 6.4 Verification 91 6.5 Chapter Summary 99 7 Varying-parameter Zeroing Neurodynamic Control Methods 101 7.1 Introduction 101 7.2 Preliminary 103 7.3 Varying-parameter ZND Methods 104 7.

4 Recursive Least Square-aided Varying-parameter ZND Method 107 7.5 Verification of VP-ZND-1 and VP-ZND-2 111 7.6 Verification of ADVPEZND 114 7.7 Chapter Summary 117 8 Prescribed-performance Convergent Zeroing Neurodynamic Control Methods 119 8.1 Introduction 119 8.2 Predefined-time Convergent Method 121 8.3 PTS Method 126 8.4 Prescribed-performance Control Method 134 8.

5 Verification of PTC-ZND 143 8.6 Verification of PTS-ZND 148 8.7 Verification of BPAC 149 8.8 Chapter Summary 161 Part VI Enhancing Zeroing Neurodynamics Methods with Intelligent Algorithms 163 9 Fuzzy-enhanced Zeroing Neurodynamic Control Method 165 9.1 Introduction 165 9.2 Method 167 9.3 Verification 170 9.4 Chapter Summary 174 10 Spiking Neural Network-enhanced Zeroing Neurodynamic Control Method 175 10.

1 Introduction 175 10.2 Preliminary 176 10.3 LSM-based Control Scheme 179 10.4 Verification 185 10.5 Chapter Summary 186 Part VII Neurodynamics-based Model-free Teleoperation Method 187 11 Neurodynamics-based Teleoperation 189 11.1 Introduction 189 11.2 Preliminary 190 11.3 Method 191 11.

4 Verification 196 11.5 Chapter Summary 198 References 199 Index 215.