Barrier lyapunov function; Constrained control; Prescribed performance bound; Robotic manipulator; Constrained controls; Control methods; Lyapunov's functions; Prescribed performance; Prescribed performance bounds; Robotic manipulators; Settling time; Trajectory-tracking; Unknown control gain; Control and Systems Engineering; Instrumentation; Computer Science Applications; Electrical and Electronic Engineering; Applied Mathematics
Abstract :
[en] 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.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Ghanooni, Pooria; Department of Electrical Engineering, Azad University of Mashhad, Mashhad, Iran
HABIBI, Hamed ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Yazdani, Amirmehdi; School of Engineering and Energy, Murdoch University, Perth, WA 6150, Australia. Electronic address: Amirmehdi.Yazdani@murdoch.edu.au
Wang, Hai ; School of Engineering and Energy, Murdoch University, Perth, WA 6150, Australia
MahmoudZadeh, Somaiyeh; CCIT, UDST University, Doha, Qatar, School of IT, Deakin University, Geelong, Australia
Ferrara, Antonella ; Department of Electrical, Computer and Biomedical Engineering, University of Pavia, 27100 Pavia, Italy
External co-authors :
yes
Language :
English
Title :
Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time.
Publication date :
February 2024
Journal title :
ISA Transactions
ISSN :
0019-0578
Publisher :
ISA - Instrumentation, Systems, and Automation Society, United States
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