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Adaptive admittance tracking control for interactive robot with prescribed performance

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An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipula-tors.The controller design incorporates prescribed performance functions(PPFs)to improve dynamic performance.Notably,the performance of the output error is confined in an envelope cha-racterized by exponential convergence,leading to convergence to zero.This feature ensures a prompt response from admit-tance control and establishes a reliable safety framework for interactions.Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

prescribed performanceadmittance controladap-tive controlrobots

MENG Qingrui、LIN Yan

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School of Automation Science and Electrical Engineering,Beihang University,Beijing 100190,China

College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266590,China

国家自然科学基金国家自然科学基金National International Science and Technology Cooperation Base on Railway Vehicle Operation Engineering of Beijing Jiaotong Univ

6207319761933006BMRV20KF08

2024

10.23919/JSEE.2024.000038

系统工程与电子技术(英文版)
中国航天科工防御技术研究院 中国宇航学会 中国系统工程学会 中国系统仿真学会

系统工程与电子技术(英文版)

CSTPCD
影响因子：0.64
ISSN：1004-4132
年,卷(期)：2024.35(2)
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