Unknown system dynamics estimator for prescribed performance control of robotic systems

被引：0
作者：
Na J. [1 ]
Zhang C. [1 ]
Wang X. [1 ]
Gao G.-B. [1 ]
机构：
[1] Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming
来源：
Kongzhi yu Juece/Control and Decision | 2021年 / 36卷 / 05期
关键词：
External disturbances; Prescribed performance control; Robot control; Robotic systems; Transient performances; Unknown system dynamics estimator;
D O I：
10.13195/j.kzyjc.2019.1219
中图分类号：
学科分类号：
摘要：
In this paper, a prescribed performance controller is proposed for robotic systems with unknown system dynamics and external disturbances, where the widely-used function approximation can be avoided, and both the transient and steady-state performances can be retained. The unknown system dynamics (e.g., coriolis / centripetal force, gravity torque) and external disturbances are estimated simultaneously via an unknown system dynamics estimator. The salient feature of the estimator over other schemes is that its structure is simple and only one parameter needs to be tuned. Moreover, the joint accelerations are avoided by introducing filter operations, making the estimator suitable for practical robotic control application. By employing a performance function that characterizes the convergence rate, maximum overshoot and steady-state error, the tracking error of the robotic system can be retained within a prescribed bound. The stability of the closed-loop control system is proved via Lyapunov theory. Simulations and experiments are carried out to validate the effectiveness of the proposed schemes. Copyright ©2021 Control and Decision.
引用
收藏
页码：1040 / 1048
页数：8
相关论文
共 32 条
  • [1] Lewis F L, Dawson D M, Abdallah C T., Robot manipulator control: Theory and practice, (2003)
  • [2] Sciavicco L, Siciliano B., Modelling and control of robot manipulators, (2012)
  • [3] Spong M W., On the robust control of robot manipulators, IEEE Transactions on Automatic Control, 37, 11, pp. 1782-1786, (1992)
  • [4] Slotine J J E, Li W P., Composite adaptive control of robot manipulators, Automatica, 25, 4, pp. 509-519, (1989)
  • [5] Na J, Mahyuddin M N, Herrmann G, Et al., Robust adaptive finite-time parameter estimation and control for robotic systems, International Journal of Robust and Nonlinear Control, 25, 16, pp. 3045-3071, (2015)
  • [6] Yang C G, Jiang Y M, He W, Et al., Adaptive parameter estimation and control design for robot manipulators with finite-time convergence, IEEE Transactions on Industrial Electronics, 65, 10, pp. 8112-8123, (2018)
  • [7] Gu W L, Hu Y F, Gong X, Et al., Trajectory tracking control of mobile robot with parameter uncertainties, Control and Decision, 34, 1, pp. 81-88, (2019)
  • [8] Chen Q, Lou C L, Nan Y R, Et al., Adaptive support vector regression modeling and dynamic surface control of a class of uncertain nonlinear systems, Control and Decision, 34, 1, pp. 63-71, (2019)
  • [9] Chen Q, Qian N, Nan Y R., Fixed-time Adaptive Control for Buck Converters, Control and Decision, 35, 5, pp. 11783-1190, (2020)
  • [10] Islam S, Liu X P., Robust sliding mode control for robot manipulators, IEEE Transactions on Industrial Electronics, 58, 6, pp. 2444-2453, (2011)
1234