Abstract
In practical robot control systems, the input constraints problem, caused by a limited actuator output amplitude, is due to its own physical characteristics. In traditional control methods, this no...
Highlights
With the continuous development of the robotics discipline, the research of robot control systems has become a research hotspot
In the practical control system, the input constraints caused by the physical characteristics of the robot often leads to system divergence or even system collapse
Since the hyperbolic tangent function avoids the direct switching of the control input and eliminates the problem of system chattering, thereby it can be used to control the amplitude of input constraints
Summary
With the continuous development of the robotics discipline, the research of robot control systems has become a research hotspot. Keywords Adaptive compensate control, input constraints, uncertain robot system, hyperbolic tangent function In the practical control system, the input constraints caused by the physical characteristics of the robot often leads to system divergence or even system collapse. Adaptive compensate control is used to compensate unknown disturbances to handle this problem.
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