Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint

Lijun Wang; Qiuyue Shi; Jinkun Liu; Dan Zhang

doi:10.1109/CYBER.2018.8688070

Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint

Lijun Wang
, Qiuyue Shi
, Jinkun Liu
, Dan Zhang

School of Automation Science and Electrical Engineering

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper investigates the problem of trajectory tracking control of the link angle and angle speed of flexible joint manipulator under the condition of control input constraint and disturbance. The backstepping control method is used to design the controller for the flexible joint manipulator, and the smooth hyperbolic tangent function is used to approximate the model of the control input constraint. The Lyapunov function is used to analyze the stability of the closed-loop system. The numerical simulation results verify the tracking performance of the proposed backstepping controller in the presence of control input constraint and disturbance.

Original language	English
Title of host publication	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1042-1047
Number of pages	6
ISBN (Electronic)	9781538670569
DOIs	https://doi.org/10.1109/CYBER.2018.8688070
State	Published - 10 Apr 2019
Event	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 - Tianjin, China Duration: 19 Jul 2018 → 23 Jul 2018

Publication series

Name	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Conference

Conference	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Country/Territory	China
City	Tianjin
Period	19/07/18 → 23/07/18

Access to Document

10.1109/CYBER.2018.8688070

Cite this

Wang, L., Shi, Q., Liu, J., & Zhang, D. (2019). Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 (pp. 1042-1047). Article 8688070 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2018.8688070

Wang, Lijun ; Shi, Qiuyue ; Liu, Jinkun et al. / Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint. 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1042-1047 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

@inproceedings{b4608693d3c34518bd5164610b93cde9,

title = "Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint",

abstract = "This paper investigates the problem of trajectory tracking control of the link angle and angle speed of flexible joint manipulator under the condition of control input constraint and disturbance. The backstepping control method is used to design the controller for the flexible joint manipulator, and the smooth hyperbolic tangent function is used to approximate the model of the control input constraint. The Lyapunov function is used to analyze the stability of the closed-loop system. The numerical simulation results verify the tracking performance of the proposed backstepping controller in the presence of control input constraint and disturbance.",

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

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 ; Conference date: 19-07-2018 Through 23-07-2018",

year = "2019",

month = apr,

day = "10",

doi = "10.1109/CYBER.2018.8688070",

language = "英语",

series = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1042--1047",

booktitle = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

address = "美国",

}

Wang, L, Shi, Q, Liu, J & Zhang, D 2019, Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint. in 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018., 8688070, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1042-1047, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Tianjin, China, 19/07/18. https://doi.org/10.1109/CYBER.2018.8688070

Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint. / Wang, Lijun; Shi, Qiuyue; Liu, Jinkun et al.
8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1042-1047 8688070 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint

AU - Wang, Lijun

AU - Shi, Qiuyue

AU - Liu, Jinkun

AU - Zhang, Dan

PY - 2019/4/10

Y1 - 2019/4/10

N2 - This paper investigates the problem of trajectory tracking control of the link angle and angle speed of flexible joint manipulator under the condition of control input constraint and disturbance. The backstepping control method is used to design the controller for the flexible joint manipulator, and the smooth hyperbolic tangent function is used to approximate the model of the control input constraint. The Lyapunov function is used to analyze the stability of the closed-loop system. The numerical simulation results verify the tracking performance of the proposed backstepping controller in the presence of control input constraint and disturbance.

AB - This paper investigates the problem of trajectory tracking control of the link angle and angle speed of flexible joint manipulator under the condition of control input constraint and disturbance. The backstepping control method is used to design the controller for the flexible joint manipulator, and the smooth hyperbolic tangent function is used to approximate the model of the control input constraint. The Lyapunov function is used to analyze the stability of the closed-loop system. The numerical simulation results verify the tracking performance of the proposed backstepping controller in the presence of control input constraint and disturbance.

UR - https://www.scopus.com/pages/publications/85064990924

U2 - 10.1109/CYBER.2018.8688070

DO - 10.1109/CYBER.2018.8688070

M3 - 会议稿件

AN - SCOPUS:85064990924

T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

SP - 1042

EP - 1047

BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Y2 - 19 July 2018 through 23 July 2018

ER -

Wang L, Shi Q, Liu J, Zhang D. Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1042-1047. 8688070. (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). doi: 10.1109/CYBER.2018.8688070

Backstepping Control of Flexible Joint Manipulator Based on Hyperbolic Tangent Function with Control Input Constraint

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this