Symmetric Time-Variant IBLF-Based Tracking Control with Prescribed Performance for a Robot

被引:1
作者
Zhang, Tan [1 ]
Yan, Pianpian [2 ]
机构
[1] West Anhui Univ, Sch Elect & Optoelect Engn, Luan 237012, Peoples R China
[2] West Anhui Univ, Sch Elect & Informat Engn, Luan 237012, Peoples R China
来源
SYMMETRY-BASEL | 2023年 / 15卷 / 10期
关键词
robot; tracking control; integral barrier Lyapunov function (IBLF); prescribed performance control; conversion error; CONTROL DESIGN; NONLINEAR-SYSTEMS; MANIPULATORS; DISTURBANCE;
D O I
10.3390/sym15101919
中图分类号
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号
07 ; 0710 ; 09 ;
摘要
In this work, an improved symmetric integral barrier function-based tracking control is addressed for a robotic manipulator in the presence of position error performance requirements and unknown uncertain terms. First of all, we construct an improved symmetric time-variant integral barrier function to solve the robotic system's constrained requirements. The novel barrier function is constructed by developing an integral upper limit function that can be used in conjunction with existing performance envelope functions. Then, the equivalent conversion error is taken as the upper limit of the integral function to achieve the specified steady-state as well as transient behaviors of the system. Additionally, a disturbance observer based on the velocity tracking error is introduced to compensate for unknown uncertain terms. In the end, a numeral simulation study on a robot with two degrees is performed to indicate that the present scheme is feasible in handling the performance constraint and uncertain terms.
引用
收藏
页数:15
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