Asymptotic Tracking Control for Robot Manipulators Systems with Time-Varying Output Constraints
In this paper,an event-based adaptive asymptotic tracking control strategy is proposed for robot manipulator systems with asymmetric time-varying output constraints.Firstly,the"computational explo-sion"problem is solved by employing the adaptive command filtered backstepping method.At the same time,the asymptotic stability of the closed-loop system can be guaranteed by using the asymmetric time-va-rying Lyapunov function,and the system state satisfies the asymmetric time-varying constraints.In addition,the adaptive asymptotic tracking control can ensure that the tracking errors converge to zero asymptotically in the case of mismatched disturbance.Besides,the control design utilizes the event-triggered control mech-anism that generates control inputs only when necessary,reducing the computational burden and improving the control performance.Finally,a two-link manipulator system with asymmetric time-varying constraints is simulated to verify the effectiveness of the proposed method.
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万方数据
维普
