Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances
type: Item
instance of: scholarly article
title: Adaptive tracking control for a class of manipulator systems with state constraints and stochastic disturbances
zbMATH Open document ID: 1427.93109
DOI: 10.1155/2018/5080684
author: W. X. Yuan
author: Jing Zhang
author: Qun Sun
author: Wei Sun
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 7019075
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/5080684
OpenAlex ID: W2809143255
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Wikidata QID: Q129639146
description: scientific article; zbMATH DE number 7019075