Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

Lijun Wang; Qiuyue Shi; Jinkun Liu; Dan Zhang

doi:10.1002/asjc.2006

Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

Lijun Wang
, Qiuyue Shi
, Jinkun Liu^*
, Dan Zhang

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Key Laboratory of Precision Opto-Mechatronics Technology (Ministry of Education)

Research output: Contribution to journal › Article › peer-review

33 Scopus citations

Abstract

In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme. To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation.

Original language	English
Pages (from-to)	1268-1279
Number of pages	12
Journal	Asian Journal of Control
Volume	22
Issue number	3
DOIs	https://doi.org/10.1002/asjc.2006
State	Published - 1 May 2020

Keywords

backstepping
control input constraint
flexible joint manipulator
hyperbolic tangent function
Lyapunov function

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10.1002/asjc.2006

Cite this

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title = "Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints",

abstract = "In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme. To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation.",

keywords = "backstepping, control input constraint, flexible joint manipulator, hyperbolic tangent function, Lyapunov function",

author = "Lijun Wang and Qiuyue Shi and Jinkun Liu and Dan Zhang",

note = "Publisher Copyright: {\textcopyright} 2018 Chinese Automatic Control Society and John Wiley \& Sons Australia, Ltd",

year = "2020",

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AU - Wang, Lijun

AU - Shi, Qiuyue

AU - Liu, Jinkun

AU - Zhang, Dan

PY - 2020/5/1

Y1 - 2020/5/1

N2 - In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme. To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation.

AB - In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme. To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation.

KW - backstepping

KW - control input constraint

KW - flexible joint manipulator

KW - hyperbolic tangent function

KW - Lyapunov function

UR - https://www.scopus.com/pages/publications/85058547585

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DO - 10.1002/asjc.2006

M3 - 文章

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SN - 1561-8625

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EP - 1279

JO - Asian Journal of Control

JF - Asian Journal of Control

IS - 3

ER -

Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

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Keywords

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