Abstract
In this article, a motion constraint control scheme is presented for mechanical systems without a modeling process by introducing a barrier Lyapunov function technique and adaptive estimation laws. The transformed error and filtered error surfaces are defined to constrain the motion tracking error in the prescribed boundary layers. Unknown parameters of mechanical systems are estimated using adaptive laws derived from the Lyapunov function. Then, robust control used the conventional sliding mode control, which give rise to excessive chattering, is changed to finite time-based control to alleviate undesirable chattering in the control action and to ensure finite-time error convergence. Finally, the constraint controller from the barrier Lyapunov function is designed and applied to the constraint of the position tracking error of the mechanical system. Two experimental examples for the XY table and articulated manipulator are shown to evaluate the proposed control scheme.
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Recommended by Associate Editor Yang Shi
Seong-Ik Han received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Korea, in 1987 and 1989, respectively, and the Ph.D. in Mechanical Design Engineering from Pusan National University in 1995. From 1995 to 2009, he was an associate professor of Electrical Automation of Suncheon First College, Korea. Now he is with the School of Electronic Engineering, Pusan National University, Korea. His research interests include intelligent control, nonlinear control, robotic control, hydraulic servo system control, vehicle system control and steel process control.
Hyun-Uk Ha received the B.S. and M.S. degrees in Electronic Engineering from Pusan National University, Busan, Korea, in 2008 and 2010, respectively. He worked for KERI (Korea Electrotechnology Research Institute) from 2011 till the end of 2014, and now he is pursuing his doctorate degree at Pusan National University. His research interests include electric vehicle, robotic control, and visual servoing for mobile manipulator.
Jang-Myung Lee received the B.S. and the M.S. in Electronic Engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and the Ph.D. in Computer Engineering from the University of Southern California (USC), Los Angeles, in 1990. Since 1992, he has been a professor with the Intelligent Robot Laboratory, Pusan National University, Busan, Korea. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensors. Dr. Lee is a past president of the Korean Robotics Society, and a vice president of ICROS. He is also the head of National Robotics Research Center, SPENALO.
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Han, S.I., Ha, H. & Lee, J. Barrier Lyapunov function-based model-free constraint position control for mechanical systems. J Mech Sci Technol 30, 3331–3338 (2016). https://doi.org/10.1007/s12206-016-0642-3
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DOI: https://doi.org/10.1007/s12206-016-0642-3