Robust task space position constraint control of kinematically redundant manipulators: A barrier Lyapunov approach
Küçük Resim Yok
Tarih
2024
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Sage Publications Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This study introduces a novel robust control strategy for kinematically redundant robotic manipulators, aimed at maintaining task space position errors within predefined constraints. The proposed design ensures that the tracking errors for both the end-effector's position and sub-tasks are uniformly ultimately bounded, despite dynamic uncertainties. It also guarantees that the position error of the end-effector stays within a predetermined safe region and achieves predictable overshoot and transient performance, provided the initial error is bounded within this safe area. The incorporation of a BLF into our stability analysis is the cornerstone of our methodological advancement, which is crucial for imposing predefined constraints on task space position errors. Simulations and experiments confirm the controller's effectiveness, showing consistent error maintenance, stability of error terms, and boundedness of closed-loop signals. Tighter constraints increased control effort but led to faster convergence and improved tracking performance.
Açıklama
Anahtar Kelimeler
Barrier Lyapunov function, constraint control, robotic manipulator, robust control
Kaynak
Transactions of the Institute of Measurement and Control
WoS Q Değeri
Q3
Scopus Q Değeri
Q2
Cilt
Sayı
Dec
Künye
Gul, S., Zergeroglu, E., & Tatlicioglu, E. (2024). Robust task space position constraint control of kinematically redundant manipulators: A barrier lyapunov approach. Transactions of the Institute of Measurement and Control
