Adaptive Barrier Lyapunov Function Control for Motion-Constrained Manipulator Systems
摘要
In this article, we study an adaptive control method based on barrier Lyapunov function in motion-constrained manipulator systems. For the motion-constrained problem, barrier Lyapunov function is used to ensure that the system states are always constrained within a certain range. For the uncertainty and external disturbance of the system, RBF network is applied for adaptive strategy to improve the robustness of the system. The stability is proven and the effectiveness is validated by simulation on manipulator system.