初始条件未知且约束违反下的机器人跟踪控制

Yu Zhang, Yifan Wu, Linghuan Kong, Yinsong Ma, W. He
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引用次数: 0

摘要

针对具有连续重复延迟和恒定(CRDC)输出性能约束的机械臂,提出了一种自适应控制方案。引入了一种新的性能误差移位函数,并将其捕获到势垒李雅普诺夫函数(BLF)中,以解决势垒函数的负面问题。将该误差移位函数引入控制综合,首先提出了一种考虑不确定初始条件和外部扰动的机器人跟踪控制方法,以保证CRDC输出约束。在现有的其他文献中,系统状态必须在初始阶段满足规定的约束条件,并且在系统运行过程中不能违反这些约束条件。然而,新方案能够解决上述情况,并且可以在程序和初始阶段违反规定的约束。因此,本文提出的方法更具适用性。仿真结果验证了该控制方案的有效性。
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Tracking Control for a Robotic Manipulator under Constraint Violation during Operation and Unknown Initial Conditions
In this paper, we proposed an adaptive control scheme for a robotic manipulator with continuous repetitive deferred and constant (CRDC) output performance constraints. A new shifting function for performance errors is introduced and entrapped into barrier Lyapunov function (BLF) to address the negative aspects of barrier functions. By adopting this error shifting function into control synthesis, a tracking control approach considering uncertain initial conditions and external perturbations is first developed for the robotic manipulator to guarantee CRDC output constraints. In the other existing literatures, the system states must satisfy the prescribed constraints initially, and cannot violate the constraints during system operation. However, the novel scheme is able to address the aforementioned situation, and the prescribed constraints can be violated both procedurally and initially. Thus, the proposed method is more applicable. The effectiveness of this novel control scheme is demonstrated in simulation.
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