Neural network adaptive control design for robot manipulators under velocity constraints

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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...

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Bibliographic Details
Main Authors:	Rahimi Nohooji, Hamed, Howard, Ian, Cui, Lei
Format:	Journal Article
Published:	Elsevier 2017
Online Access:	http://hdl.handle.net/20.500.11937/59850

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