Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

作     者：Wang, Lijun Shi, Qiuyue Liu, Jinkun Zhang, Dan 

作者机构：Univ Sci & Technol Beijing Sch Automat & Elect Engn Key Lab Knowledge Automat Ind Proc Minist Educ Beijing Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China 

出 版 物：《ASIAN JOURNAL OF CONTROL》 (亚洲控制杂志)

年 卷 期：2020年第22卷第3期

页      面：1268-1279页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：Beijing Key Disciplines to Build Projects [XK100080537] National Natural Science Foundation of China 

主　　题：backstepping control input constraint flexible joint manipulator hyperbolic tangent function Lyapunov function 

摘      要：In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme. To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation.