{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T15:01:29Z","timestamp":1753887689657,"version":"3.41.2"},"reference-count":45,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,10,12]],"date-time":"2021-10-12T00:00:00Z","timestamp":1633996800000},"content-version":"vor","delay-in-days":284,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003397","name":"Huazhong University of Science and Technology","doi-asserted-by":"publisher","award":["2021yjsCXCY070"],"award-info":[{"award-number":["2021yjsCXCY070"]}],"id":[{"id":"10.13039\/501100003397","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Computational Intelligence and Neuroscience"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>This article studies the robust tracking control problems of Euler\u2013Lagrange (EL) systems with uncertainties. To enhance the robustness of the control systems, an asymmetric tan\u2010type barrier Lyapunov function (ATBLF) is used to dynamic constraint position tracking errors. To deal with the problems of the system uncertainties, the self\u2010structuring neural network (SSNN) is developed to estimate the unknown dynamics model and avoid the calculation burden. The robust compensator is designed to estimate and compensate neural network (NN) approximation errors and unknown disturbances. In addition, a relative threshold event\u2010triggered strategy is introduced, which greatly saves communication resources. Under the proposed robust control scheme, tracking behavior can be implemented with disturbance and unknown dynamics of the EL systems. All signals in the closed\u2010loop system are proved to be bounded by stability analysis, and the tracking error can converge to the neighborhood near the origin. The numerical simulation results show the effectiveness and the validity of the proposed robust control scheme.<\/jats:p>","DOI":"10.1155\/2021\/1277349","type":"journal-article","created":{"date-parts":[[2021,10,13]],"date-time":"2021-10-13T15:28:49Z","timestamp":1634138929000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Robust Tracking Control of the Euler\u2013Lagrange System Based on Barrier Lyapunov Function and Self\u2010Structuring Neural 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