Trajectory Tracking Control of Manipulators Actuated by Motors Based on Disturbance and Output Constrain
For a class of manipulators actuated by DC-motors,the problem of trajectory tracking control under out-put constrain and unknown disturbance is considered in this paper.In the case of bounded disturbance,a disturb-ance observer is designed to estimate disturbance.To prevent constraint violation,a skillful barrier Lyapunov func-tion based on the structural properties of the manipulator is introduced.Then a tuning trajectory tracking controller in vector form is designed such that tracking error can be made small enough,while the output cannot violate its constrained bounds.The effectiveness of the proposed scheme is demonstrated by the simulation results for a hu-manoid manipulator.
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