Observer-Based Output Feedback Tracking Control for Flexible Joint Space Manipulator with Output Constraints

被引：3
|
作者：
Liu, Li [1 ]
Yue, Xiaokui [1 ]
Wen, Haowei [2 ]
Hao, Zhiwei [1 ]
Zhu, Yuan [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Astronaut, 127 Youyi West Rd, Xian 710072, Peoples R China
[2] Beihang Univ, Sch Astronaut, 37 Xueyuan Rd, Beijing 100191, Peoples R China
来源：
JOURNAL OF AEROSPACE ENGINEERING | 2024年 / 37卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Flexible joint; Barrier Lyapunov function; Output constraints; Velocity observer; Observer-based controller; ROBUST-CONTROL; SYSTEMS;
D O I：
10.1061/JAEEEZ.ASENG-5004
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
This paper proposed an observer-based output feedback tracking controller with output constraints for the rigid-link flexible-joint space manipulator system considering the dynamic damping caused by the torque change. By combining the Barrier Lyapunov function, backstepping, coordinate transformation, dynamic scaling, and globally exponentially convergent velocity observer, the proposed scheme maintains the simplicity of independent design of observer and controller, where the observation gains and control gains can be designed separately.
引用
收藏
页数：12
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