@inproceedings{026ffa9f396844fcab1f07b64717dd5c,
title = "Adaptive Barrier Lyapunov Function Control for Motion-Constrained Manipulator Systems",
abstract = "In this article, we study an adaptive control method based on barrier Lyapunov function in motion-constrained manipulator systems. For the motion-constrained problem, barrier Lyapunov function is used to ensure that the system states are always constrained within a certain range. For the uncertainty and external disturbance of the system, RBF network is applied for adaptive strategy to improve the robustness of the system. The stability is proven and the effectiveness is validated by simulation on manipulator system.",
keywords = "Adaptive control, Barrier Lyapunov function, Disturbance estimation, Manipulator system",
author = "Shifeng Liu and Xuemei Ren and Dongdong Zheng",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 20th Chinese Intelligent Systems Conference, CISC 2024 ; Conference date: 26-10-2024 Through 27-10-2024",
year = "2024",
doi = "10.1007/978-981-97-8650-3\_35",
language = "English",
isbn = "9789819786497",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "347--356",
editor = "Yingmin Jia and Yongling Fu and Weicun Zhang and Yang Yang",
booktitle = "Proceedings of 2024 Chinese Intelligent Systems Conference",
address = "Germany",
}