Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances (Q1721025)
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scientific article; zbMATH DE number 7019075
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| English | Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances |
scientific article; zbMATH DE number 7019075 |
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Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances (English)
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8 February 2019
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Summary: An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.
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0.8363286852836609
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0.8310516476631165
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0.8205034136772156
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