In this paper, the control problem of uncertain n-DOF robotic manipulators with time-varying output constraints is studied. In order to solve the uncertain problem, a neural network based on radial basis function (RBF) is used to estimate the unknown dynamics of the robot manipulator. In the controller design process, we use the asymmetric barrier Lyapunov function (BLF) to avoid the violation of time-varying output constraints. Simulation results verify the effectiveness of the proposed control scheme.
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