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Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

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  • Wei Sun
  • Wenxing Yuan
  • Jing Zhang
  • Qun Sun

Abstract

An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.

Suggested Citation

  • Wei Sun & Wenxing Yuan & Jing Zhang & Qun Sun, 2018. "Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-6, June.
    • Handle: RePEc:hin:jnlmpe:5080684
    DOI: 10.1155/2018/5080684
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