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    Barrier function-based adaptive synergetic control with state constraints for manipulator with uncertainty and input saturation

    Barrier function-based adaptive synergetic control with state constraints for manipulator with uncertainty and input saturation von Muhammad Auzan, Yong-Lin Kuo

    Veröffentlicht 2025-09-01

    This study proposes a barrier function-based adaptive nonsingular terminal synergetic control to mitigate chattering and uncertainty in a nonlinear system with hard state constraints and actuator saturation. The controller addresses the uncertainty by utilizing a barrier function-based evolution con...

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