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

الملخص EN

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.