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Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints
Abstract
This paper studies the tracking control problem for an uncertain n -link robot with full-state constraints. The rigid robotic manipulator is described as a multiinput and multioutput system. Adaptive neural network (NN) control for the robotic system with full-state constraints is designed. In the control design, the adaptive NNs are adopted to handle system uncertainties and disturbances. The Moore-Penrose inverse term is employed in order to prevent the violation of the full-state constraints. A barrier Lyapunov function is used to guarantee the uniform ultimate boundedness of the closed-loop system. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters. Simulation studies are performed to illustrate the effectiveness of the proposed control.
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Cited by
Adaptive finite-time tracking control of full state constrained nonlinear systems with dead-zone
Li, H., Zhao, S., He, W., & Lu, R. (2019) · Automatica · doi:10.1016/j.automatica.2018.10.030 · Cited by 555
Self-citationVan, M., Ge, S. S., & Ren, H. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2016.2555307 · Cited by 486
Neural Networks-Based Adaptive Control for Nonlinear State Constrained Systems With Input Delay
Li, D.-P., Liu, Y.-J., Tong, S., Chen, C. L. P., & Li, D.-J. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2799683 · Cited by 382
Adaptive Neural Network Control of a Robotic Manipulator With Time-Varying Output Constraints
He, W., Huang, H., & Ge, S. S. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2711961 · Cited by 361
Self-citationAdaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer
He, W., Yan, Z., Sun, C., & Chen, Y. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2720801 · Cited by 328
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Metadata
- Authors
- He, W., Chen, Y., & Yin, Z.
- Venue
- IEEE Transactions on Cybernetics
- Published
- 2016-03
- Volume
- 46
- Issue
- 3
- Pages
- 620-629
- ISSN
- 2168-2267 (ISSN-L)
- 2168-2275
- OpenAlex
- W1986024064
- Cited by
- 1,273
- References
- 0
- FWCI
- 137.03
- Type
- journal article
- Language
- en
- Open access
- closed
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- He, W., Chen, Y., & Yin, Z. (2016). Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints. IEEE Transactions on Cybernetics. https://doi.org/10.1109/tcyb.2015.2411285
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