Tracking control of a robotic system with deferred constraints and actuator faults. Issue 9 (21st March 2021)

• Record Type: Journal Article
• Authors: Zhang, Yu; Kong, Linghuan; Zhang, Shuang; Yu, Xinbo; Yang, Pengxin
• Is Part Of: IET control theory & applications. Volume 15:Issue 9(2021)
• Page Start: 1257
• Page End: 1269
• Publication Date: 2021-03-21
• Subjects: Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/cth2.12120
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract: This paper proposes an adaptive sliding mode tracking control for a robotic manipulator to guarantee a deferred performance under input non‐linearities and external perturbations. Control inputs of the robotic manipulator are entrapped into saturation and failures simultaneously. A common method to deal with output constraints is based on the barrier Lyapunov function, which requires the system states to be within the prescribed bounds initially; an error‐shifting transformation is utilized and barrier functions are integrated into sliding model control to remove the unreasonable requirement and to realize a finite time convergence result collectively. Furthermore, the actuator faults are accommodated without any prior knowledge. Simulation examples are provided to verify the effectiveness of the proposed scheme.