我所柳向斌老师课题组完成的论文《Robust Adaptive Control for Robotic Manipulator with Output Constraints》于2024-05在《IEEE Data Driven Control and Learning Systems Conference (DDCLS)》正式发表。论文摘要如下：
Abstract: This paper investigates the control problem of robotic manipulator subjected to uncertain dynamics and output constraints. The robotic manipulator system is described as a Lagrangian system with parameterized uncertainties and external disturbances. To deal with these uncertain terms, a robust adaptive control scheme is proposed to ensure the system with desired performance. Furthermore, the Barrier Lyapunov Function is introduced into the controller design to guarantee the output of the robotic manipulators satisfy the constraints. Finally, the effectiveness of the proposed control scheme is demonstrated by a numerical simulation.
引用信息：Lei Chen, Xiangbin Liu, Lang Zou, Min Zhang. Robust Adaptive Control for Robotic Manipulator with Output Constraints. IEEE Data Driven Control and Learning Systems Conference (DDCLS), 2024-05. DOI: 10.1109/ddcls61622.2024.10606778