Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints - N. Rahimi, Hamed; Howard, Ian; Cui, Lei (Mechanical systems and signal processing, 2018)
Keywords: Actuators; Adaptive control; Constraints; Feedback control; Input saturation; Manipulators; Neural networks; Radial basis function neural networks; Robot arms; Robot control; Tangent barrier Lyapunov function; Time-varying asymmetric constraints; Tracking control; Uncertain actuator; Uncertain manipulator; Uncertainty; Uncertain manipulator; Radial basis function neural networks; Tangent barrier Lyapunov function; Input saturation; Time-varying asymmetric constraints; Uncertain actuator