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

This repository contains the code for bilinear models for serial manipulators and the corresponding ZNN controller developed for the purpose of trajectory tracking with the aforementioned models.

This is the Github repository for a novel neural control architecture that employs input-output information to compensate for the lack of knowledge about the robot model to achieve prescribed tracking performance in the presence of joint constraints.