A Backstepping Control Strategy of Command Filtering for Two-Link Flexible Joint Manipulator

被引：0
|
作者：
Lin M. [1 ]
Zhang L. [1 ]
Li P. [1 ]
Wang X. [1 ]
Wang W. [1 ]
机构：
[1] College of Electronics and Information, Xi'an Polytechnic University, Xi'an
来源：
Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University | 2021年 / 55卷 / 12期
关键词：
Barrier Lyapunov function; Command filtering; Filtering error; Two-link flexible joint manipulator;
D O I：
10.7652/xjtuxb202112009
中图分类号：
学科分类号：
摘要：
A backstepping control strategy of command filtering with output constraint and error compensation for two-link flexible joint manipulator (named BLF-CFBC) is proposed to achieve the control goal of improving the tracking response speed and tracking accuracy of the two-link flexible joint manipulator system. Firstly, a logarithmic barrier Lyapunov function is constructed to replace the conventional quadratic Lyapunov function in the backstepping control design, so that the trajectory tracking error is constrained within the preset range and the trajectory tracking accuracy is ensured while the error convergence speed is accelerated. Secondly, the control signal and its derivative are output from the command filter so as to avoid the problem of computational explosion caused by the repeated derivation of control variables in conventional backstepping control method based on Lyapunov theory, thus effectively reducing the calculation dimension. Finally, an error compensation mechanism is introduced to construct system variables by using the errors between the control signal and the output of the filter, so as to reduce the influence of the error of command filter on the tracking accuracy of the manipulator. A two-link flexible joint manipulator system model is built and simulated in Matlab software. Results and a comparison with the command filter backstepping control strategy (CFBC) without considering output constraint and error compensation show that the proposed control strategy increases the trajectory tracking response speed of joint 1 and joint 2 by 20% and 30%, respectively, and the trajectory tracking error reduces by 4% and 3.5%, respectively. © 2021, Editorial Office of Journal of Xi'an Jiaotong University. All right reserved.
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页码：70 / 78
页数：8
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