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Asymmetric integral barrier function-based tracking control of constrained robots

open access: yesAIMS Mathematics
In this paper, a new-type time-varying asymmetric integral barrier function is designed to handle the state constraint of nonlinear systems. The barrier Lyapunov function is developed by building an integral upper limit function with respect to ...
Tan Zhang, Pianpian Yan
doaj   +1 more source

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