Practical Tracking Control for Dual-arm Robot with Output Constraints

To ensure that the dual-arm robots can complete the coordination work excellently, this paper studies the practical tracking control problem for the object position with output constraints. Firstly, position tracking error is transformed through a designed constraint function. By guaranteeing that the new error state is bounded, the original output constraint can be satisfied, whose advantage is that it can avoid meeting the feasibility conditions when combined with barrier Lyapunov function and backstepping technology. Secondly, the newly formed error state variable is transformed by an exponential function to improve the tracking accuracy. Then, a robust adaptive control scheme is proposed, which can make the trajectory tracking error of the object achieve the specified accuracy and the output is always kept within the constraint range. Furthermore, through Lyapunov stability theory, it is proved that the tracking error of positions can converge to a smaller expected value. Finally, numerical simulations indicate the good performance of the designed controller.