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Prescribed Performance Control for Uncertain Flexible-joint Robotic Manipulators Driven by DC Motors

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Abstract

This paper is devoted to the prescribed performance control for a class of flexible-joint robotic manipulators driven by DC motors. Remarkably, certain transient performances are given aforehand which are jointly considered with some steady ones and hence result into the incapability of traditional control methods on this topic. Moreover, more serious uncertainties are allowed than those of the related literature due to the consideration of the dynamics of joint and motor which introduce essential obstacles in the control design. For this, by using the vectorial backstepping method and the constructive method based on funnel set, a novel prescribed performance control framework is established, and in turn one time-varying controller is explicitly designed which guarantee all the closed-loop system signals are bounded, and particularly, the system output tracks the given reference signal with prescribed accuracy and regulation time. A simulation example is provided to validate the effectiveness of the proposed theoretical results.

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Authors and Affiliations

  1. School of Mathematics and Information Sciences, Yantai University, Yantai, 264005, P. R. China

    Jian Li, Kaifa Ma & Zhaojing Wu

Authors
  1. Jian Li
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  2. Kaifa Ma
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  3. Zhaojing Wu
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Corresponding author

Correspondence to Jian Li.

Additional information

Recommended by Associate Editor Ning Sun under the direction of Editor Won-jong Kim.

This work was supported by the National Natural Science Foundations of China (61773332,61673332).

Jian Li received his Ph.D. degree in control theory and control engineering from Shandong University, Jinan, China, in 2013. He is currently an associate professor with Yantai University. His current research interests include controls of distributed parameter systems and mechanical systems.

Kaifa Ma is currently pursuing his master’s degree in operations and cybernetics with Yantai University, Yantai, China. His current research interest includes adaptive control of mechanical systems.

Zhaojing Wu received his M.S. and Ph.D. degrees from Qufu Normal University and Northeastern University, China, in 2003 and 2005, respectively. He is currently a professor with the School of Mathematics and Information Science, Yantai University, China. His research interests include nonlinear, adaptive and stochastic control theory.

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Li, J., Ma, K. & Wu, Z. Prescribed Performance Control for Uncertain Flexible-joint Robotic Manipulators Driven by DC Motors. Int. J. Control Autom. Syst. 19, 1640–1650 (2021). https://doi.org/10.1007/s12555-020-0311-2

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  • DOI: https://doi.org/10.1007/s12555-020-0311-2

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