Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints
This paper presents a control design for a robotic manipulator with uncertainties in both actuator dynamics and manipulator dynamics subject to asymmetric time-varying joint space constraints. Tangent-type time-varying barrier Lyapunov functionals (tvBLFs) are constructed to ensure no constraint vio...
| Main Authors: | , , |
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| Format: | Journal Article |
| Published: |
Academic Press
2018
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| Online Access: | http://purl.org/au-research/grants/arc/DE170101062 http://hdl.handle.net/20.500.11937/66628 |