Asymmetric integral barrier function-based tracking control of constrained robots

Asymmetric integral barrier function-based tracking control of constrained robots

In this paper, a new-type time-varying asymmetric integral barrier function is designed to handle the state constraint of nonlinear systems. The barrier Lyapunov function is developed by building an integral upper limit function with respect to transformation errors over an open set to cope with the...

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Bibliographic Details
Main Authors: Tan Zhang, Pianpian Yan
Format: Article
Language:English
Published: AIMS Press 2024-01-01
Series:AIMS Mathematics
Subjects:
integral barrier function
constraints
tracking control
nonlinear system
robot
Online Access:https://www.aimspress.com/article/doi/10.3934/math.2024019?viewType=HTML

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https://www.aimspress.com/article/doi/10.3934/math.2024019?viewType=HTML

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