Disturbance Observer-Based Tracking Controller for n-Link Flexible-Joint Robots Subject to Time-Varying State Constraints

Author:

Zhang Zhongcai12,Hu Xueli2,Huang Peng2

Affiliation:

1. School of Artificial Intelligence, Nankai University, Tianjin 300350, China

2. School of Engineering, Qufu Normal University, Rizhao 276826, China

Abstract

This paper addresses the tracking control for an n-link flexible-joint robot system with full-state constraints and external disturbances. First, a nonlinear disturbance observer (NDO) is introduced to asymptotically estimate and suppress the influence of the related disturbances. Next, the constrained system under consideration is transformed into a new unconstrained system using state-dependent function (SDF) transformations. Subsequently, a NDO-based tracking controller that combines the backstepping method and filter technique is proposed in this work. Based on stability analysis, it can be proven that the tracking error converges to a predefined compact set, which can be arbitrarily small without violating the full-state constraints. Finally, simulation results are presented to demonstrate the validity of the suggested control algorithm.

Funder

National Key Research and Development Program of China

National Natural Science Foundation of China

China Postdoctoral Science Special Foundation

Youth Innovation Team Project of Colleges and Universities in Shandong Province

Graduate Teaching Case Base Project of Shandong Province

Publisher

MDPI AG

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