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Adaptive Neural Control for Robotic Manipulators Under Constrained Task Space

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Social Robotics (ICSR 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11357))

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Abstract

A fundamental requirement in human-robot interaction is the capability for motion in the constrained task space. The control design for robotic manipulators is investigated in this paper, subject to uncertainties and constrained task space. The neural networks (NN) are employed to estimate the uncertainty of robotic dynamics, while the integral barrier Lyapunov Functional (iBLF) is used to handle the effect of constraint. With the proposed control strategy, the system output can converge to an adjustable constrained space without violating the predefined constrained region. Semi-globally uniformly ultimate boundedness of the closed-loop system is guaranteed via Lyapunov’s stability theory. Simulation examples are provided to illustrate the performance of the proposed strategy.

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Author information

Authors and Affiliations

  1. Center for Robotics, University of Electronic Science and Technology of China, Chengdu, 611731, People’s Republic of China

    Sainan Zhang

  2. HuaWei Technologies Co., Ltd., Shanghai, 31000, People’s Republic of China

    Zhongliang Tang

Authors
  1. Sainan Zhang
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  2. Zhongliang Tang
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Corresponding author

Correspondence to Sainan Zhang .

Editor information

Editors and Affiliations

  1. The National University of Singapore, Singapore, Singapore

    Shuzhi Sam Ge

  2. Qatar University, Doha, Qatar

    John-John Cabibihan

  3. University Carlos III de Madrid, Madrid, Spain

    Miguel A. Salichs

  4. Canterbury University, Auckland, New Zealand

    Elizabeth Broadbent

  5. Wichita State University, Wichita, KS, USA

    Hongsheng He

  6. The Pennsylvania State University, University Park, PA, USA

    Alan R. Wagner

  7. Universidad Carlos III de Madrid, Madrid, Spain

    Álvaro Castro-González

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Zhang, S., Tang, Z. (2018). Adaptive Neural Control for Robotic Manipulators Under Constrained Task Space. In: Ge, S., et al. Social Robotics. ICSR 2018. Lecture Notes in Computer Science(), vol 11357. Springer, Cham. https://doi.org/10.1007/978-3-030-05204-1_59

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  • DOI: https://doi.org/10.1007/978-3-030-05204-1_59

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-05203-4

  • Online ISBN: 978-3-030-05204-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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