Adaptive Sliding Mode Control for a Class of Manipulator Systems with Output Constraint. (3rd February 2021)

• Record Type: Journal Article
• Authors: Li, Guangshi
• Other Names: Sun Qiuye Academic Editor.
• Is Part Of: Complexity. Volume 2021(2021)
• Publication Date: 2021-02-03
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2021/6642795
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : 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.