This paper proposes an adaptive predefined performance neural control scheme for robotic manipulators in the presence of\nnonlinear dead zone. A neural network (NN) is utilized to estimate the model uncertainties and unknown dynamics. An improved\nfunnel function is designed to guarantee the transient behavior of the tracking error. The proposed funnel function can release the\nassumption on the conventional funnel control. Then, an adaptive predefined performance neural controller is proposed for\nrobotic manipulators, while the tracking errors fall within a prescribed funnel boundary.Theclosed-loop system stability is proved\nvia Lyapunov function. Finally, the numerical simulation results based on a 2-DOF robotic manipulator illustrate the control effect\nof the presented approach.
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