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Adaptive Tracking Control of a Single-Link Flexible Robotic Manipulator System with Unmodeled Dynamics and Motion Constraint

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Proceedings of 2017 Chinese Intelligent Systems Conference (CISC 2017)

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Abstract

This paper studies the tracking control problem of a single-link flexible robotic manipulator system with unmodeled dynamics and motion constraint. A dynamic surface control scheme is proposed to design the adaptive controller ensuring both desired tracking performance and constraint satisfaction. A virtual state observer is constructed to estimate the unmeasured state signals. The RBF NNs are used to approximate unknown functions. Dynamic signal and nonlinear mapping are introduced to deal with the dynamic uncertainties and solve motion constraint problem, respectively. A simulation study is presented to verify the effectiveness of the proposed control approach.

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Acknowledgements

This work was partially supported by the National Natural Science Foundation of China (61573307, 61473250 and 61473249) and Yangzhou University Top-level Talents Support Program.

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Authors and Affiliations

  1. Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou, 225127, China

    Ningning Wang & Tianping Zhang

Authors
  1. Ningning Wang
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  2. Tianping Zhang
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Corresponding author

Correspondence to Tianping Zhang .

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Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Wang, N., Zhang, T. (2018). Adaptive Tracking Control of a Single-Link Flexible Robotic Manipulator System with Unmodeled Dynamics and Motion Constraint. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 460. Springer, Singapore. https://doi.org/10.1007/978-981-10-6499-9_1

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  • DOI: https://doi.org/10.1007/978-981-10-6499-9_1

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6498-2

  • Online ISBN: 978-981-10-6499-9

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