Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints

• Published in: Mechanical systems and signal processing Vol. 112; pp. 44 - 60
• Main Authors: N. Rahimi, Hamed, Howard, Ian, Cui, Lei
• Format: Journal Article
• Language: English
• Published: Berlin Elsevier Ltd 01.11.2018; Elsevier BV
• Subjects: 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

[Display omitted] •Constrained adaptive neural control is developed for uncertain robot manipulators.•Tangent-type asymmetric and time-varying barrier Lyapunov functions are utilized.•Uncertainties in both manipulator dynamics and actuator dynamics are handled.•The semi-globally uniformly ultimately...