Robust task space position constraint control of kinematically redundant manipulators: A barrier Lyapunov approach

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dc.authorid0000-0001-5623-9975
dc.authorid0000-0002-1211-0448
dc.contributor.authorGul, Samet
dc.contributor.authorZergeroglu, Erkan
dc.contributor.authorTatlicioglu, Enver
dc.date.accessioned2025-02-20T12:13:34Z
dc.date.available2025-02-20T12:13:34Z
dc.date.issued2024
dc.departmentEge Üniversitesi, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümü, Elektronik Ana Bilim Dalı
dc.description.abstractThis 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.
dc.identifier.citationGul, 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
dc.identifier.doi10.1177/01423312241296968
dc.identifier.endpage11
dc.identifier.issn0142-3312
dc.identifier.issueDec
dc.identifier.scopus2-s2.0-85211924609
dc.identifier.scopusqualityQ2
dc.identifier.startpage1
dc.identifier.urihttps://doi.org/10.1177/01423312241296968
dc.identifier.urihttps://hdl.handle.net/11454/116103
dc.identifier.wosWOS:001377137800001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorTatlicioglu, Enver
dc.institutionauthorid0000-0001-5623-9975
dc.language.isoen
dc.publisherSage Publications Ltd
dc.relation.ispartofTransactions of the Institute of Measurement and Control
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectBarrier Lyapunov function
dc.subjectconstraint control
dc.subjectrobotic manipulator
dc.subjectrobust control
dc.titleRobust task space position constraint control of kinematically redundant manipulators: A barrier Lyapunov approach
dc.typeArticle

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