Constraint robust adaptive stabilization for a class of lower triangular systems with unknown control direction

Robust neural network control of robotic manipulators via switching strategy

“…In this paper, we have presented the main contributions of the results in this paper over some existing ones. Compared with the works in [1,2,18,8,12,20], the outstanding feature of the algorithms proposed in this paper is that: (i) Combining with the multiple Lyapunov function approach and the periodically switching method, the novel design of the robust adaptive neural switching controller is first discussed for the switching dynamical model of the robotic manipulators; (ii) The robust compensation controller is introduced to enhance the robustness and keep bounded in the control system; (iii) With the proposed control scheme of the robotic manipulator in this paper, it is quickly to reach the trajectory objective such that both system tracking stability and error convergence can be guaranteed in the closed-loop system. Also, it's well known that robust neural network control scheme design remains open for the switching dynamical model of the robotic manipulators.…”

“…Until now, there are many kinds of approaches for the trajectory tracking problem of robotic manipulators, e. g., the adaptive control [4,6,15], sliding mode control [17] and robust control [1,3,6,8,10,14,15,20]. As we know, a few results which are of practical interest on control synthesis of switched nonlinear systems have been introduced [3,10,14,16,19].…”