Adaptive Neural Control for an Uncertain 2-DOF Robotic System With Coupled Input Constraint
- Resource Type
- Conference
- Authors
- Bai, Yang; Ouyang, Yuncheng
- Source
- 2023 38th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Chinese Association of Automation (YAC), 2023 38th Youth Academic Annual Conference of. :1036-1040 Aug, 2023
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Transportation
Uncertainty
Simulation
2-DOF
Artificial neural networks
Stability analysis
Trajectory
Robots
Coupled input constraint
2-DOF robotic system
neural network
adaptive control
- Language
- ISSN
- 2837-8601
In this paper, an adaptive neural control method with coupled input constraint for a two degrees of freedom(DOF) uncertain robotic system is studied. A transformation matrix is proposed to handle the coupled input constraint problem. The coupled input constrained problem is transformed into an uncoupled input constraint problem. The incorporation of neural network techniques is aimed at addressing the uncertainty of the 2-DOF robot system. An analysis based on Lyapunov stability theory is given to illustrate the stability of the robot system with coupled input constraint. In addition, simulations are conducted on a 2-DOF robot system to further prove the feasibility and effectiveness of the proposed control.