Adaptive control of robotic manipulators with unified motion constraints

Li, Mingming, Li, Yanan, Ge, Shuzhi Sam and Lee, Tong Heng (2016) Adaptive control of robotic manipulators with unified motion constraints. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 47 (1). pp. 184-194. ISSN 2168-2216

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In 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.

Item Type: Article
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 14 Dec 2017 16:54
Last Modified: 02 Jul 2019 13:17

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