Abstract
This paper proposes a robust adaptive tracking control approach for robotic systems with deferred and time-varying (DTV) output constraints. By introducing an error-shifting transformation into control synthesis, a new tracking control scheme is developed for robotic systems in the presence of DTV output constraints and uncertain initial tracking conditions as well as non-vanishing disturbances. In contrast to existing works that require the constraints be satisfied from the beginning of system operation, the proposed method is able to deal with the situation that the output constraints are violated initially, rendering the method more flexible and more widely applicable. The effectiveness of the presented control strategy is verified by theoretical analysis and numerical simulation.
| Original language | English |
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| Title of host publication | Proceedings of the 3rd International Symposium on Autonomous Systems, ISAS 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 165-170 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781728112985 |
| DOIs | |
| Publication status | Published - May 2019 |
| Externally published | Yes |
| Event | The 3rd International Symposium on Autonomous Systems, ISAS 2019 - Shanghai, China Duration: 29 May 2019 → 31 May 2019 |
Conference
| Conference | The 3rd International Symposium on Autonomous Systems, ISAS 2019 |
|---|---|
| Abbreviated title | ISAS 2019 |
| Country/Territory | China |
| City | Shanghai |
| Period | 29/05/19 → 31/05/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
Funding
This work was supported by National Natural Science Foundation of China (NSFC) under Grant 61860206008 and 61773081, in part by the Fundamental Research Funds for the Central Universities under Project No. 2018CDPTCG0001/43.
Keywords
- deferred and time-varying (DTV) output constraints
- error-shifting transformation
- robust adaptive control