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Adaptive control of robotic manipulators with unified motion constraints

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posted on 2023-06-09, 09:22 authored by Mingming Li, Yanan LiYanan Li, Shuzhi Sam Ge, Tong Heng Lee
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.

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Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Systems, Man, and Cybernetics: Systems

ISSN

2168-2216

Publisher

Institute of Electrical and Electronics Engineers

Issue

1

Volume

47

Page range

184-194

Department 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

2017-12-14

First Open Access (FOA) Date

2017-12-14

First Compliant Deposit (FCD) Date

2017-12-14

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