Smooth-Switching Gain Based Adaptive Neural Network Control of n-Joint Manipulator with Multiple Constraints

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...

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Bibliographic Details
Main Authors: Qing Yang, Haisheng Yu, Xiangxiang Meng, Wenqian Yu, Huan Yang
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Actuators
Subjects:
manipulator
multiple constraints
adaptive neural network
smooth-switching for gain
Barrier Lyapunov Function
Online Access:https://www.mdpi.com/2076-0825/11/5/127

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