Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

Wei Sun, Wenxing Yuan, Jing Zhang and Qun Sun

Mathematical Problems in Engineering, 2018, vol. 2018, 1-6

Abstract:

An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.

Date: 2018
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:5080684

DOI: 10.1155/2018/5080684

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