Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time

Pooria Ghanooni; Hamed Habibi; Amirmehdi Yazdani; Hai Wang; Somaiyeh MahmoudZadeh; Antonella Ferrara

doi:10.1016/j.isatra.2023.12.011

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Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time

Journal article

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Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time

Pooria Ghanooni, Hamed Habibi, Amirmehdi Yazdani, Hai Wang, Somaiyeh MahmoudZadeh and Antonella Ferrara

ISA transactions, Vol.145, pp.330-354

2023

DOI: https://doi.org/10.1016/j.isatra.2023.12.011

PMID: 38177050

Appears in Open Access via Read & Publish Agreements

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Abstract

Prescribed performance bound

Robotic manipulator

Barrier lyapunov function

Constrained control

This paper presents a control method for trajectory tracking of a robotic manipulator, subject to practical constraints and uncertainties. The proposed method is established upon an adaptive backstepping procedure incorporating a tangent-type barrier Lyapunov function and it preserves some important metrics of trajectory tracking such as fast and user-defined settling time response and robustness against actuation faults and unknown control gain. The proposed design maintains the system trajectory within a prescribed performance bound and relaxes the assumption of the bounded initial condition. These salient features preserve the system within a safety bound and, consequently, guarantee the system stability and safety. The performance of the proposed control method is validated on a 3-DOF PUMA 560 robotic manipulator benchmark model, with different operation scenarios. The simulation results confirm the effectiveness and robustness of the proposed control method.

Details

Title: Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time
Authors/Creators: Pooria Ghanooni - Islamic Azad University, Mashhad
Hamed Habibi - University of Luxembourg
Amirmehdi Yazdani - Murdoch University
Hai Wang - Murdoch University
Somaiyeh MahmoudZadeh - Deakin University
Antonella Ferrara - University of Pavia
Publication Details: ISA transactions, Vol.145, pp.330-354
Publisher: Elsevier Ltd. on behalf of ISA
Identifiers: 991005626057607891
Murdoch Affiliation: School of Engineering and Energy; Centre for Water, Energy and Waste
Language: English
Resource Type: Journal article

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