Adaptive Control of Human-Interacted Mobile Robots with Velocity Constraint
In this paper, we present an adaptive control for mobile robots moving in human environments with velocity constraints. The mobile robot is commanded to track the desired trajectory while at the same time guarantee the satisfaction of the velocity constraints. Neural networks are constructed to deal with unstructured and unmodeled dynamic nonlinearities. Lyapunov function is employed during the course of control design to implement the validness of the proposed approach. The effectiveness of the proposed framework is verified through simulation studies.
KeywordsRobot-human interaction Motion constraints Neural network control
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