Adaptive Neural Tracking Control for an Uncertain State Constrained Robotic Manipulator With Unknown Time-Varying Delays.

This paper presents an adaptive neural control strategy for an n-link rigid robotic manipulator with both state constraints and unknown time-varying delayed states. The design difficulties cause by the state constraints and unknown network-induced time-varying delays which appear in the n-link rigid robot simultaneously. In order to overcome these difficulties, the novel Barrier Lyapunov functions...