# Prescribed Performance-tangent Barrier Lyapunov Function for Adaptive Neural Backstepping Control of Variable Stiffness Actuator with Input and Output Constraints

> Research article (International Journal of Control Automation and Systems, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4320040332](https://www.wikidata.org/wiki/openalex:W4320040332)  
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