System Development & Application
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 12
3697-3702,3708

Globally convergent segmented control of flexible joint manipulator with output constraints

Chen Hongyu
Dong Xiucheng
Yang Yong
Liu Jiutai
School of Electrical & Electronic Information, Xihua University, Chengdu 610039, China
DOI: 10.19734/j.issn.1001-3695.2021.04.0188

Abstract

For flexible joint manipulator systems with output constraints and model uncertainties, this paper used the singular perturbation method to decouple the system into slow and fast subsystems and designed the subcontrollers separately, so as to realize the connection with the rigid control method and reduce the amount calculation. The fast subsystem used the speed difference feedback to suppress the elastic vibration of the system caused by the joint flexibility. For the slow subsystem, this paper proposed a globally convergent segmented control strategy, which extended the convergence range to the global level, and overceme the defect that the initial error of the system needed to be within the convergence range for the backstepping control based on tan-barrier Lyapunov function(BLF). Then the radial basis(RBF) neural network eliminated errors caused by unknown disturbances and model uncertainties, thus ensuring the system's trajectory tracking and output constraints of the system. The simulation shows that the proposed method can make the flexible joint manipulator maintain good tracking performance at any initial position, which reflects the effectiveness and superiority.

Foundation Support

四川省科技厅重点项目(2018JY0463)
四川省高校科研创新团队—机器视觉与智能控制(18TD0024)
四威高科—西华大学产学研联合实验室(2016-YF04-00044-JH)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.04.0188
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 12
Section: System Development & Application
Pages: 3697-3702,3708
Serial Number: 1001-3695(2021)12-031-3697-06

Publish History

[2021-12-05] Printed Article

Cite This Article

陈泓宇, 董秀成, 杨勇, 等. 全局收敛的带有输出约束柔性关节机械臂分段控制 [J]. 计算机应用研究, 2021, 38 (12): 3697-3702,3708. (Chen Hongyu, Dong Xiucheng, Yang Yong, et al. Globally convergent segmented control of flexible joint manipulator with output constraints [J]. Application Research of Computers, 2021, 38 (12): 3697-3702,3708. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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