adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances
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2018
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Abstract
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.
| Reference Key |
sun2018mathematicaladaptive
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|---|---|
| Authors | ;Wei Sun;Wenxing Yuan;Jing Zhang;Qun Sun |
| Journal | journal of power sources |
| Year | 2018 |
| DOI |
10.1155/2018/5080684
|
| URL | |
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