TY - GEN
T1 - Composite learning for trajectory tracking control of robot manipulators with output constraints
AU - Huang, Dianye
AU - Yang, Chenguang
AU - Pan, Yongping
AU - Dai, Shilu
AU - Ju, Zhaojie
PY - 2018/8/9
Y1 - 2018/8/9
N2 - In this paper, a trajectory tracking scheme for robot manipulators with unknown dynamics is investigated, with the consideration of output constraints as well as small bounded external disturbances. Firstly, a modified backstepping control scheme is employed to control the robot manipulators where in the first step of the design a tan-type barrier Lyapunov candidate is chosen in order to tackle the constraint problem. Secondly, the philosophy of dynamic surface control is incorporated to implement the calculation of prediction errors, which can also reduce “explosion of complexity” of the backstepping scheme. In addition, composite learning is introduced for a better estimation of unknown parameters, and for canceling out the uncertainties of the robot manipulators. Stability analysis shows that the proposed control scheme guarantees a small bounded tracking error with parameter convergence in the absence of the stringent persistent excitation condition. Finally, a simulation is conducted and the results demonstrate the superiority of the proposed controller in the aspects of tracking capability and parameter estimation.
AB - In this paper, a trajectory tracking scheme for robot manipulators with unknown dynamics is investigated, with the consideration of output constraints as well as small bounded external disturbances. Firstly, a modified backstepping control scheme is employed to control the robot manipulators where in the first step of the design a tan-type barrier Lyapunov candidate is chosen in order to tackle the constraint problem. Secondly, the philosophy of dynamic surface control is incorporated to implement the calculation of prediction errors, which can also reduce “explosion of complexity” of the backstepping scheme. In addition, composite learning is introduced for a better estimation of unknown parameters, and for canceling out the uncertainties of the robot manipulators. Stability analysis shows that the proposed control scheme guarantees a small bounded tracking error with parameter convergence in the absence of the stringent persistent excitation condition. Finally, a simulation is conducted and the results demonstrate the superiority of the proposed controller in the aspects of tracking capability and parameter estimation.
U2 - 10.1109/ICIST.2018.8426181
DO - 10.1109/ICIST.2018.8426181
M3 - Conference contribution
SN - 978-1-5386-3783-8
T3 - IEEE ICIST Proceedings Series
SP - 301
EP - 306
BT - 2018 Eighth International Conference on Information Science and Technology
PB - IEEE
T2 - 2018 Eighth International Conference on Information Science and Technology
Y2 - 30 June 2018 through 6 July 2018
ER -