Smooth-Switching Gain Based Adaptive Neural Network Control of n-Joint Manipulator with Multiple Constraints
Modeling errors, external loads and output constraints will affect the tracking control of the n-joint manipulator driven by the permanent magnet synchronous motor. To solve the above problems, the smooth-switching for backstepping gain control strategy based on the Barrier Lyapunov Function and ada...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-04-01
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Series: | Actuators |
Subjects: | |
Online Access: | https://www.mdpi.com/2076-0825/11/5/127 |