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Manipulator Trajectory Tracking with a Neural Network Adaptive Control Method
2021
Mathematical Problems in Engineering
In order to solve the joint chattering problem of the manipulator in the process of motion, a novel dynamics model is established based on the dynamics model of the manipulator, by fitting parameters of the neural network and combining with the estimated value of the inertia matrix. We proposed a neural network adaptive control method with a time-varying constraint state based on the dynamics model of estimation. We design the control law, establish the Lyapunov function equation and the
doi:10.1155/2021/9332324
fatcat:6zwwzoxdoraf7l4tkxazqza7q4