Experimental and Analytical Prescribed-Time Trajectory Tracking Control of a 7-DOF Robot Manipulator
Experimental and Analytical Prescribed-Time Trajectory Tracking Control of a 7-DOF Robot Manipulator
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DOI：
10.23919/acc53348.2022.9867788
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Alex Bertino;Peiman Naseradinmousavi;M. Krstić
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文献类型：
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作者：
Alex Bertino;Peiman Naseradinmousavi;M. Krstić
提出了一种7自由度机械手轨迹跟踪控制的解析设计和实验验证，该控制在有限的终端时间内实现了所有跟踪误差收敛到原点。这种控制策略的一个关键特征是，该终端收敛时间由控制设计者明确规定，因此与跟踪误差的初始条件无关。为了实现所提出的控制器的这一有益特性，采用了通过朝向终端时间无限增长的时间函数来缩放状态。通过Lyapunov分析，我们首先证明了即使在匹配的非零扰动存在的情况下，所提出的控制器也在规定的时间内实现了对所有跟踪误差的调节以及关节力矩的一致有界性。然后，通过仿真和实验，我们证明了所提出的控制器能够在规定的时间内收敛到期望的轨迹，即使在每个关节施加较大的跟踪误差和正弦扰动的初始条件下。
We present an analytical design and experimental verification of trajectory tracking control of a 7-DOF robot manipulator, which achieves convergence of all tracking errors to the origin within a finite terminal time. A key feature of this control strategy is that this terminal convergence time is explicitly prescribed by the control designer, and is thus independent of the initial conditions of the tracking errors. In order to achieve this beneficial property of the proposed controller, a scaling of the state by a function of time that grows unbounded towards the terminal time is employed. Through Lyapunov analysis, we first demonstrate that the proposed controller achieves regulation of all tracking errors within the prescribed time as well as the uniform boundedness of the joint torques, even in the presence of a matched, non-vanishing disturbance. Then, through both simulation and experiment, we demonstrate that the proposed controller is capable of converging to the desired trajectory within the prescribed time, despite large initial conditions of the tracking errors and a sinusoidal disturbance being applied in each joint.