A barrier composite energy function approach for robot manipulators under alignment condition with position constraints

Xu Jin, Jian Xin Xu

Research output: Contribution to journalArticlepeer-review

83 Scopus citations

Abstract

In this work, we propose an iterative learning control scheme with a novel barrier composite energy function approach to deal with position constrained robotic manipulators with uncertainties under alignment condition. The classical assumption of initial resetting condition is removed. Through rigorous analysis, we show that uniform convergence is guaranteed for joint position and velocity tracking error. By introducing a novel tan-type barrier Lyapunov function into barrier composite energy function and keeping it bounded in closed-loop analysis, the constraint on joint position vector will not be violated. A simulation study has further demonstrated the efficacy of the proposed scheme.

Original languageEnglish
Pages (from-to)2840-2851
Number of pages12
JournalInternational Journal of Robust and Nonlinear Control
Volume24
Issue number17
DOIs
StatePublished - Nov 25 2014

Bibliographical note

Publisher Copyright:
Copyright © 2013 John Wiley & Sons, Ltd.

Keywords

  • alignment condition
  • barrier composite energy function
  • iterative learning control
  • nonlinear systems
  • robot manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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