Neural network adaptive control design for robot manipulators under velocity constraints
This paper studies the neural adaptive control design for robotic systems with uncertain dynamics under the existence of velocity constraints and input saturation. The control objective is achieved by choosing a control Lyapunov function using joint error variables that are restricted to linear grow...
| Main Authors: | , , |
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| Format: | Journal Article |
| Published: |
Elsevier
2017
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| Online Access: | http://hdl.handle.net/20.500.11937/59850 |