This is the Github repository for a fault tolerant optimal ZNN controller with state constraints and precribed performance constraints described in the paper title "A Provably Constrained Neural Control Architecture With Prescribed Performance for Fault-Tolerant Redundant Manipulators". The paper can be found at https://ieeexplore.ieee.org/abstract/document/9888126
If you use the code in the academic context, please cite:
- R. Singh and J. Keshavan, "A Provably Constrained Neural Control Architecture With Prescribed Performance for Fault-Tolerant Redundant Manipulators," in IEEE Access, vol. 10, pp. 97719-97732, 2022, doi: 10.1109/ACCESS.2022.3206365