Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.

[1]  Cong-Ran Zhao,et al.  A Combined Homogeneous Domination and Sign Function Approach to Output-Feedback Stabilization of Stochastic High-Order Nonlinear Systems , 2014, IEEE Transactions on Automatic Control.

[2]  Wenjie Dong,et al.  On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty , 2002, Autom..

[3]  Xu Jin,et al.  Adaptive fault tolerant control for a class of input and state constrained MIMO nonlinear systems , 2016 .

[4]  Xuan Sun,et al.  An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints , 2013, Commun. Nonlinear Sci. Numer. Simul..

[5]  Shuzhi Sam Ge,et al.  Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators , 2008, Autom..

[6]  Licheng Jiao,et al.  Adaptive NN Backstepping Output-Feedback Control for Stochastic Nonlinear Strict-Feedback Systems With Time-Varying Delays , 2010, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[7]  Mingyue Cui,et al.  Dynamics Modeling and Tracking Control of Robot Manipulators in Random Vibration Environment , 2013, IEEE Transactions on Automatic Control.

[8]  Zhen-Guo Liu,et al.  Modelling and adaptive tracking control for flexible joint robots with random noises , 2014, Int. J. Control.

[9]  Atsuo Kawamura,et al.  Perfect tracking control based on multirate feedforward control with generalized sampling periods , 2001, IEEE Trans. Ind. Electron..

[10]  Cong-Ran Zhao,et al.  Global stabilization of stochastic high-order feedforward nonlinear systems with time-varying delay , 2014, Autom..

[11]  Wei He,et al.  Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints , 2016, IEEE Transactions on Cybernetics.

[12]  H. F. Ho,et al.  Adaptive fuzzy approach for a class of uncertain nonlinear systems in strict-feedback form. , 2008, ISA transactions.

[13]  Ting Li,et al.  A new approach to fast global finite-time stabilization of high-order nonlinear system , 2017, Autom..

[14]  Ian Howard,et al.  Neural network adaptive control design for robot manipulators under velocity constraints , 2017, J. Frankl. Inst..

[15]  Li Sheng,et al.  Some remarks on stability of stochastic singular systems with state-dependent noise , 2015, Autom..

[16]  U. O. Akpan,et al.  Stochastic response of a flexible mobile robotic manipulator structure , 1996 .

[17]  Mirosław Galicki,et al.  An adaptive non-linear constraint control of mobile manipulators , 2015 .

[18]  P. Kokotovic,et al.  Adaptive nonlinear design with controller-identifier separation and swapping , 1995, IEEE Trans. Autom. Control..

[19]  Bor-Sen Chen,et al.  ${\cal H}$-Representation and Applications to Generalized Lyapunov Equations and Linear Stochastic Systems , 2012, IEEE Transactions on Automatic Control.

[20]  Lijie Wang,et al.  Adaptive Fuzzy Control of Nonlinear Systems With Unmodeled Dynamics and Input Saturation Using Small-Gain Approach , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[21]  Yuqiang Wu,et al.  Barrier Lyapunov functions-based dynamic surface control for pure-feedback systems with full state constraints , 2017 .

[22]  Wei Sun,et al.  Modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints , 2016, J. Syst. Sci. Complex..

[23]  Yu-Sheng Lu,et al.  Smooth motion control of rigid robotic manipulators with constraints on high-order kinematic variables , 2018 .

[24]  Feifei Yang,et al.  Decentralized adaptive neural control for high-order stochastic nonlinear strongly interconnected systems with unknown system dynamics , 2018, Inf. Sci..

[25]  Zhuo Wang,et al.  Adaptive disturbance attenuation for generalized high-order uncertain nonlinear systems , 2017, Autom..

[26]  Marc J. Richard,et al.  Stochastic dynamical modelling of an open-chain manipulator in a fluid environment , 1996 .