A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators

A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators

An adaptive robust controller is introduced for high-precision tracking control problems of robotic manipulators with output constraints. A nonlinear function is employed to transform the constrained control objective to new free variables that are then synthesized using a sliding-mode-like function...

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Bibliographic Details
Main Authors: Dang Xuan, Joonbum Bae
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Robotics
manipulators
adaptive robust control
nonlinear control
position control
output constrained control
Online Access:https://ieeexplore.ieee.org/document/9388669/

Internet

https://ieeexplore.ieee.org/document/9388669/

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