Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time

被引：0

作者：

Ghanooni, Pooria ^{[1
]}

Habibi, Hamed ^{[2
]}

Yazdani, Amirmehdi ^{[3
]}

Wang, Hai ^{[3
]}

MahmoudZadeh, Somaiyeh ^{[4
,5
]}

Ferrara, Antonella ^{[6
]}

机构：

[1] Department of Electrical Engineering, Azad University of Mashhad, Mashhad, Iran

[2] Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg,L-1855, Luxembourg

[3] School of Engineering and Energy, Murdoch University, Perth,WA,6150, Australia

[4] CCIT, UDST University, Doha, Qatar

[5] School of IT, Deakin University, Geelong, Australia

[6] Department of Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia,27100, Italy

来源：

ISA Transactions | 2024年 / 145卷

关键词：

Backstepping - Benchmarking - Flexible manipulators - Robotics - Robustness (control systems) - System stability - Trajectories;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

This paper presents a control method for trajectory tracking of a robotic manipulator, subject to practical constraints and uncertainties. The proposed method is established upon an adaptive backstepping procedure incorporating a tangent-type barrier Lyapunov function and it preserves some important metrics of trajectory tracking such as fast and user-defined settling time response and robustness against actuation faults and unknown control gain. The proposed design maintains the system trajectory within a prescribed performance bound and relaxes the assumption of the bounded initial condition. These salient features preserve the system within a safety bound and, consequently, guarantee the system stability and safety. The performance of the proposed control method is validated on a 3-DOF PUMA 560 robotic manipulator benchmark model, with different operation scenarios. The simulation results confirm the effectiveness and robustness of the proposed control method. © 2024 The Authors

引用

页码：330 / 354