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Practical Tracking Control for Dual-arm Robot with Output Constraints

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  • Robot and Applications
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Abstract

To ensure that the dual-arm robots can complete the coordination work excellently, this paper studies the practical tracking control problem for the object position with output constraints. Firstly, position tracking error is transformed through a designed constraint function. By guaranteeing that the new error state is bounded, the original output constraint can be satisfied, whose advantage is that it can avoid meeting the feasibility conditions when combined with barrier Lyapunov function and backstepping technology. Secondly, the newly formed error state variable is transformed by an exponential function to improve the tracking accuracy. Then, a robust adaptive control scheme is proposed, which can make the trajectory tracking error of the object achieve the specified accuracy and the output is always kept within the constraint range. Furthermore, through Lyapunov stability theory, it is proved that the tracking error of positions can converge to a smaller expected value. Finally, numerical simulations indicate the good performance of the designed controller.

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Authors and Affiliations

  1. Institute of Automatic Control, thr School of Electronics and Information Engineering, Xi’an Jiaotong University, Xi’an, 710049, China

    Heyu Hu & Jianfu Cao

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  1. Heyu Hu
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  2. Jianfu Cao
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Correspondence to Heyu Hu.

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This work was supported in part by the National Key Research and Development Program of China under Grant 2018YFB1306900, in part by the National Natural Science Foundation of China under Grant U1913603, Grant 62103322, in part by China Postdoctoral Science Foundation under Grant 2021M692567, and in part by the GuangDong Basic and Applied Basic Research Foundation under Grant 2020A1515111187.

Heyu Hu is now a Ph.D. candidate in the School of Electronics and Information Engineering, Xi’an Jiaotong University. His main research interests include dualarm robots control and modelling.

Jianfu Cao is currently a Professor with the School of Electronics and Information Engineering, Xi’an Jiaotong University. His main research interests include advanced robot control, fault diagnosis for industrial systems, and nonlinear system theory.

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Hu, H., Cao, J. Practical Tracking Control for Dual-arm Robot with Output Constraints. Int. J. Control Autom. Syst. 20, 3264–3273 (2022). https://doi.org/10.1007/s12555-021-0605-z

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  • DOI: https://doi.org/10.1007/s12555-021-0605-z

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