A Provably Constrained Neural Control Architecture With Prescribed Performance for Fault-Tolerant Redundant Manipulators
In this paper, a novel neural control architecture is proposed and investigated for resolving redundancy in trajectory tracking applications for manipulators with joint velocity constraints. First, a nonlinear invertible map is invoked to transform the constrained system state into a set of unconstr...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9888126/ |