共 28 条
Adaptive Sliding Mode Control for a Class of Manipulator Systems with Output Constraint
被引:2
作者:

Li, Guangshi
论文数: 0 引用数: 0
h-index: 0
机构:
Anshan Normal Univ, Comp Ctr, Anshan 114016, Peoples R China Anshan Normal Univ, Comp Ctr, Anshan 114016, Peoples R China
机构:
[1] Anshan Normal Univ, Comp Ctr, Anshan 114016, Peoples R China
来源:
关键词:
NONLINEAR-SYSTEMS;
STATE CONSTRAINTS;
FEEDBACK-SYSTEMS;
TRACKING CONTROL;
NEURAL-NETWORK;
PID CONTROL;
DESIGN;
D O I:
10.1155/2021/6642795
中图分类号:
O1 [数学];
学科分类号:
0701 ;
070101 ;
摘要:
In this paper, an adaptive sliding mode control method based on neural networks is presented for a class of manipulator systems. The main characteristic of the discussed system is that the output variable is required to keep within a constraint set. In order to ensure that the system output meets the time-varying constraint condition, the asymmetric barrier Lyapunov function is selected in the design process. According to Lyapunov stability theory, the stability of the closed-loop system is analyzed. It is demonstrated that all signals in the resulted system are bounded, the tracking error converges to a small compact set, and the system output limits in its constrained set. Finally, the simulation example is used to show the effectiveness of the presented control strategy.
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