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Adaptive Control of Robotic Manipulators With Unified Motion Constraints
2017
IEEE Transactions on Systems, Man & Cybernetics. Systems
In this paper, we present an adaptive control of robotic manipulators with parametric uncertainties and motion constraints. Position and velocity constraints are considered and they are unified and converted into the constraint of the nominal input. An adaptive neural network control is developed to achieve trajectory tracking, while the problems of motion constraints are addressed by considering the saturation effect of the nominal input. The uniform boundedness of all closed-loop signals is
doi:10.1109/tsmc.2016.2608969
fatcat:vodozxicc5a53kmeu3ra5ulir4