Adaptive Neural-Network Controller for an Uncertain Rigid Manipulator With Input Saturation and Full-Order State Constraint

科研成果: 期刊稿件文章同行评审

76 引用 (Scopus)

摘要

This article proposes an adaptive neural-network control scheme for a rigid manipulator with input saturation, full-order state constraint, and unmodeled dynamics. An adaptive law is presented to reduce the adverse effect arising from input saturation based on a multiply operation solution, and the adaptive law is capable of converging to the specified ratio of the desired input to the saturation boundary while the closed-loop system stabilizes. The neural network is implemented to approximate the unmodeled dynamics. Moreover, the barrier Lyapunov function methodology is utilized to guarantee the assumption that the control system works to constrain the input and full-order states. It is proved that all states of the closed-loop system are uniformly ultimately bounded with the presented constraints under input saturation. Simulation results verify the stability analyses on input saturation and full-order state constraint, which are coincident with the preset boundaries.

源语言英语
页(从-至)2907-2915
页数9
期刊IEEE Transactions on Cybernetics
52
5
DOI
出版状态已出版 - 1 5月 2022

指纹

探究 'Adaptive Neural-Network Controller for an Uncertain Rigid Manipulator With Input Saturation and Full-Order State Constraint' 的科研主题。它们共同构成独一无二的指纹。

引用此