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Adaptive Sliding Mode Control for a Class of Manipulator Systems with Output Constraint

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  • Guangshi Li
  • Qiuye Sun

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.

Suggested Citation

  • Guangshi Li & Qiuye Sun, 2021. "Adaptive Sliding Mode Control for a Class of Manipulator Systems with Output Constraint," Complexity, Hindawi, vol. 2021, pages 1-7, February.
    • Handle: RePEc:hin:complx:6642795
    DOI: 10.1155/2021/6642795
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