Adaptive Neural Network Control of a Robotic Manipulator With Time-Varying Output Constraints

摘要

The control problem of an uncertain n -degrees of freedom robotic manipulator subjected to time-varying output constraints is investigated in this paper. We describe the rigid robotic manipulator system as a multi-input and multi-output nonlinear system. We devise a disturbance observer to estimate the unknown disturbance from humans and environment. To solve the uncertain problem, a neural network which utilizes a radial basis function is used to estimate the unknown dynamics of the robotic manipulator. An asymmetric barrier Lyapunov function is employed in the process of control design to avert the contravention of the time-varying output constraints. Simulation results validate the validity of the presented control scheme.