Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints

• Published in: IEEE transactions on cybernetics Vol. 46; no. 3; pp. 620 - 629
• Main Authors: He, Wei, Chen, Yuhao, Yin, Zhao
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.03.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive control systems; Adaptive systems; Artificial neural networks; barrier Lyapunov function (BLF); Closed loop systems; Computer simulation; Control design; Control systems; Disturbances; full-state constraint; Neural networks; neural networks (NNs); nonlinear system; Nonlinear systems; robot; Robotics; Robots; Tracking control; robot; barrier Lyapunov function (BLF); full-state constraint; neural networks (NNs); nonlinear system; Adaptive control

This paper studies the tracking control problem for an uncertain <inline-formula> <tex-math notation="LaTeX">{n} </tex-math></inline-formula>-link robot with full-state constraints. The rigid robotic manipulator is described as a multiinput and multioutput system. A...