Adaptive neural network control of robotic manipulators with input constraints and without velocity measurements
Heng Zhang,
Yangyang Zhao,
Yang Wang
et al.
Abstract:This paper addresses the trajectory tracking problem for a class of uncertain manipulator systems under the effect of external disturbances. The main challenges lie in the input constraints and the lack of measurements of joint velocities. An extend‐state‐observer is utilized to estimate the velocity signals; then, a neural‐network‐based adaptive controller is proposed to solve the problem, where a term based on the nominal model is included to enhance the tracking ability, and the effect of uncertainties and … Show more
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