Unified Mapping Function-Based Neuroadaptive Control of Constrained Uncertain Robotic Systems

For the existing adaptive constrained robotic control algorithms, the demanding "feasibility conditions" on virtual controller is normally inevitable and the extra limits on constraining functions have to be imposed, making the corresponding approaches more demanding and less user friendly...

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Bibliographic Details
Published in:	IEEE transactions on cybernetics Vol. 53; no. 6; pp. 3665 - 3674
Main Authors:	Zhao, Kai, Chen, Long, Meng, Wenchao, Zhao, Lin
Format:	Journal Article
Language:	English
Published:	United States IEEE 01.06.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Algorithms Artificial neural networks Closed loops Constraining Constraints Control algorithms Control design Coordinate transformations Feasibility Heuristic algorithms Manipulator dynamics Manipulators Mapping Motion constraints Neural networks neuroadaptive control Robot arms Robot control Robot kinematics robotic systems Robotics Robots Service robots unified mapping function
ISSN:	2168-2267, 2168-2275, 2168-2275
Online Access:	Get full text
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