Adaptive tracking controller with exponential restrictions for robotic manipulators

被引：0

作者：

Gomez-Correa, Manuela ^{[1
]}

Villela, Ulises ^{[1
]}

Cruz-Ortiz, David ^{[2
]}

Salgado, Ivan ^{[1
]}

Ballesteros, Mariana ^{[1
,2
]}

机构：

[1] Inst Politecnico Nacl, CIDETEC, Mexico City, Mexico

[2] Inst Politecnico Nacl, Med Robot & Biosignals Lab, Mexico City, Mexico

来源：

2023 11TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION, ICCMA | 2023年

关键词：

Barrier Lyapunov function; Adaptive PD controller; exponential restrictions; time-varying restrictions;

D O I：

10.1109/ICCMA59762.2023.10374655

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work, we design a control solution to solve the tracking trajectory problem for the joints of a robot manipulator. The control considers a proportional derivative (PD) structure with adaptive gains. The adaptation law of the gains is obtained using a Barrier Lyapunov function, which considers a logarithmic form and a time-varying bound through a decreasing exponential. The Barrier design enforces an exponential decrement of the tracking error with a prescribed velocity. The designed control is implemented numerically for a model of a two-degrees-of-freedom robot manipulator. The results are compared with a classical PD controller showing that the designed control performs better in the tracking task. The adaptive PD has a smaller mean square error than the classical PD. The designed control is tested with different convergence parameters, and the results show how the exponential bound enforces a prescribed velocity.

引用

页码：215 / 220

页数：6

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