Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

<div>The estimation of <span class="nowrap"><svg height="12.783pt" id="M141" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -12.5766 6.59789 12.783" width="6.59789pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.031,-3.549)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z" id="g119-17"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z" id="g113-230"></path></g></svg>.</span></div>

Mathematical Problems in Engineering

fig3

Figure 3

Figure 3: Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances 