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Adaptive control of robotic manipulators with unified motion constraints
journal contribution
posted on 2023-06-09, 09:22 authored by Mingming Li, Yanan LiYanan Li, Shuzhi Sam Ge, Tong Heng LeeIn this paper, we present an adaptive control of robotic manipulators with parametric uncertainties and motion constraints. Position and velocity constraints are considered and they are unified and converted into the constraint of the nominal input. An adaptive neural network control is developed to achieve trajectory tracking, while the problems of motion constraints are addressed by considering the saturation effect of the nominal input. The uniform boundedness of all closed-loop signals is verified through Lyapunov analysis. Simulation and experiment results on a 2 DOF robotic manipulator demonstrate the effectiveness of the proposed method.
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Publication status
- Published
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- Accepted version
Journal
IEEE Transactions on Systems, Man, and Cybernetics: SystemsISSN
2168-2216Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
1Volume
47Page range
184-194Department affiliated with
- Engineering and Design Publications
Notes
(c)2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-14First Open Access (FOA) Date
2017-12-14First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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