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In the outer loop, a discrete output feedback adaptive dynamics programing (OPFB ADP) algorithm is proposed to deal with the problems of unknown environment dynamic and unobservable environment position. Besides, a discount factor is added to the discrete OPFB ADP algorithm to improve the convergence speed. In the inner loop, a constrained controller is developed on the basis of asymmetric barrier Lyapunov function, and a neural network method is applied to approximate the dynamic characteristics of the uncertain system model. By utilizing this controller, the robot can track the prescribed trajectory precisely within a security boundary. Simulation and experimental results demonstrate the effectiveness of the proposed controller.<\/jats:p>","DOI":"10.1017\/s0263574722001138","type":"journal-article","created":{"date-parts":[[2022,9,9]],"date-time":"2022-09-09T06:29:58Z","timestamp":1662704998000},"page":"105-125","source":"Crossref","is-referenced-by-count":1,"title":["Asymmetric constrained control scheme design with discrete output feedback in unknown robot\u2013environment interaction system"],"prefix":"10.1017","volume":"41","author":[{"given":"Xinyi","family":"Yu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4855-6633","authenticated-orcid":false,"given":"Huizhen","family":"Luo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuanwu","family":"Shi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Wei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linlin","family":"Ou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,9,9]]},"reference":[{"key":"S0263574722001138_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2017.8279358"},{"key":"S0263574722001138_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-34507-5_4"},{"key":"S0263574722001138_ref18","doi-asserted-by":"crossref","unstructured":"[18] Ahmed, M. 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