Asymmetric constrained control scheme design with discrete output feedback in unknown robot–environment interaction system. Issue 1 (9th January 2023)

• Record Type: Journal Article
• Authors: Yu, Xinyi; Luo, Huizhen; Shi, Shuanwu; Wei, Yan; Ou, Linlin
• Is Part Of: Robotica. Volume 41:Issue 1(2023)
• Page Start: 105
• Page End: 125
• Publication Date: 2023-01-09
• Subjects: discrete output feedback -- Adaptive dynamic programing -- Neural network -- Asymmetric barrier Lyapunov function -- Human–robot interaction; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574722001138
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: In this paper, an overall structure with the asymmetric constrained controller is constructed for human–robot interaction in uncertain environments. The control structure consists of two decoupling loops. In the outer loop, a discrete output feedback adaptive dynamics programing (OPFB ADP) algorithm is proposed to deal with the problems of unknown environment dynamic and unobservable environment position. Besides, a discount factor is added to the discrete OPFB ADP algorithm to improve the convergence speed. In the inner loop, a constrained controller is developed on the basis of asymmetric barrier Lyapunov function, and a neural network method is applied to approximate the dynamic characteristics of the uncertain system model. By utilizing this controller, the robot can track the prescribed trajectory precisely within a security boundary. Simulation and experimental results demonstrate the effectiveness of the proposed controller.