Barrier Lyapunov function based output control and extended state observer for a manipulator with time-varying output constraints and uncertainties

被引：0
|
作者：
Duc Thien Tran [1 ]
Hoang Vu Dao [1 ]
Liu, Huan [1 ]
Yum, Young Jin [1 ]
Ahn, Kyoung Kwan [1 ]
机构：
[1] Univ Ulsan, Sch Mech Engn, Ulsan, South Korea
来源：
2019 23RD INTERNATIONAL CONFERENCE ON MECHATRONICS TECHNOLOGY (ICMT 2019) | 2019年
基金：
新加坡国家研究基金会;
关键词：
Adaptive control; barrier Lyapunov function; extended state observer; time-varying output constraint; manipulator; NONLINEAR-SYSTEMS; DISTURBANCE;
D O I：
10.1109/icmect.2019.8932112
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive output feedback controller is proposed for an n-degrees of freedom (DOF) manipulator with the time-varying output constraints, the unmeasured variables, and the external disturbances. An extended state observer (ESO) is employed for estimating not only the external disturbance but also the unmeasured states in order to improve the accuracy of the closed-loop system. When the barrier Lyapunov function is used to develop the proposed control with the ESO, the output constraints of the robotic manipulator are overcome. Finally, some simulations of the proposed control are conducted on a 3-DOF manipulator to verify the effectiveness of the proposed control with the presence of unknown frictions, external disturbance, and the time-varying output constraints.
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页数：6
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