Disturbance observer-based full-state constrained control for robotic systems with dead zone
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS(2023)
摘要
This paper studies the trajectory tracking control problem of uncertain manipulators with full-state constraints and dead-zone inputs. By utilizing the backstepping method and barrier Lyapunov functions, a novel disturbance observer-based full-state constrained control approach is proposed. It is noted that the dead-zone inputs can be expressed in terms of a nonlinear disturbance term and a nominal part. The unknown dynamic uncertainty of robotic system is approximated by the adaptive neural network, and the disturbance observer is integrated into the control design to compensate neural network approximation errors, nonlinear disturbances caused by dead-zone inputs, and external disturbance. A barrier Lyapunov function (BLF) is introduced to illustrate the boundedness of signals within the robotic control system. Finally, the effectiveness of the proposed control scheme is illustrated through simulation results of a two-link manipulator.
更多查看译文
关键词
Full-state constrained,Barrier Lyapunov function,Neural networks,Dead zone,Disturbance observer
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要