Tracking error constraint-based adaptive dynamic surface control of electro-hydraulic manipulator system

被引：3
|
作者：
Nie, Shoucheng [1 ]
Qian, Linfang [2 ]
Chen, Guangsong [2 ]
Fan, Ruidong [2 ]
Li, Yanze [2 ]
机构：
[1] AVIC Jincheng Nanjing Engn Inst Aircraft Syst, Nanjing, Peoples R China
[2] Nanjing Univ Sci & Technol, Nanjing, Peoples R China
来源：
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2022年 / 44卷 / 09期
基金：
中国国家自然科学基金;
关键词：
Electro-hydraulic manipulator system; Error constraints; Tracking control; Adaptive control; Dynamic surface control; BARRIER LYAPUNOV FUNCTIONS; NONLINEAR-SYSTEMS; MOTION CONTROL; ROBUST-CONTROL; FORCE CONTROL;
D O I：
10.1007/s40430-022-03598-5
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper discusses the nonlinear tracking control problem of electro-hydraulic manipulator system (EHMS) with tracking error constraints. A barrier Lyapunov function-based adaptive dynamic surface control (BLF-ADSC) method is employed in EHMS to improve the dynamic tracking performance in the presence of parameter uncertainties. The combination of barrier Lyapunov function with dynamic surface control is convenient for eliminating both the violation of tracking error constraints and the differential explosion of backstepping iteration. In order to reduce the model uncertainties of EHMS, adaptation law and discontinuous projection mapping are incorporated to estimate the uncertain parameters. As a result, the asymptotic convergence and ultimate boundedness of the tracking error in EHMS are derived through the theoretical derivation. Comparisons of simulation results show prescribed tracking accuracy and good transient response of the proposed method.
引用
收藏
页数：13
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