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 |
| _version_ | 1848761356071731200 |
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| author | Rahimi, H.N. Howard, Ian Cui, Lei |
| author_facet | Rahimi, H.N. Howard, Ian Cui, Lei |
| author_sort | Rahimi, H.N. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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 violation and to remove the need for transforming the original constrained system into an equivalent unconstrained one. Adaptive Neural Networks (NNs) are proposed to handle uncertainties in manipulator dynamics and actuator dynamics in addition to the unknown disturbances. Proper input saturation is employed, and it is proved that under the proposed method the stability and semi-global uniform ultimate boundedness of the closed-loop system can be achieved without violation of constraints. The effectiveness of the theoretical developments is verified through numerical simulations. |
| first_indexed | 2025-11-14T10:30:22Z |
| format | Journal Article |
| id | curtin-20.500.11937-66628 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:30:22Z |
| publishDate | 2018 |
| publisher | Academic Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-666282022-10-06T03:57:27Z Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints Rahimi, H.N. Howard, Ian Cui, Lei 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 violation and to remove the need for transforming the original constrained system into an equivalent unconstrained one. Adaptive Neural Networks (NNs) are proposed to handle uncertainties in manipulator dynamics and actuator dynamics in addition to the unknown disturbances. Proper input saturation is employed, and it is proved that under the proposed method the stability and semi-global uniform ultimate boundedness of the closed-loop system can be achieved without violation of constraints. The effectiveness of the theoretical developments is verified through numerical simulations. 2018 Journal Article http://hdl.handle.net/20.500.11937/66628 10.1016/j.ymssp.2018.03.042 http://purl.org/au-research/grants/arc/DE170101062 Academic Press fulltext |
| spellingShingle | Rahimi, H.N. Howard, Ian Cui, Lei Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| title | Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| title_full | Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| title_fullStr | Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| title_full_unstemmed | Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| title_short | Neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| title_sort | neural adaptive tracking control for an uncertain robot manipulator with time-varying joint space constraints |
| url | http://purl.org/au-research/grants/arc/DE170101062 http://hdl.handle.net/20.500.11937/66628 |