具有规定性能的交互式机器人的自适应导纳跟踪控制

IF 1.9 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Journal of Systems Engineering and Electronics Pub Date : 2024-05-14 DOI:10.23919/jsee.2024.000038

Qingrui Meng, Yan Lin

{"title":"具有规定性能的交互式机器人的自适应导纳跟踪控制","authors":"Qingrui Meng, Yan Lin","doi":"10.23919/jsee.2024.000038","DOIUrl":null,"url":null,"abstract":"An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights, demonstrating the viability of the control scheme proposed in this paper.","PeriodicalId":50030,"journal":{"name":"Journal of Systems Engineering and Electronics","volume":"136 1","pages":""},"PeriodicalIF":1.9000,"publicationDate":"2024-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Adaptive Admittance Tracking Control for Interactive Robot with Prescribed Performance\",\"authors\":\"Qingrui Meng, Yan Lin\",\"doi\":\"10.23919/jsee.2024.000038\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights, demonstrating the viability of the control scheme proposed in this paper.\",\"PeriodicalId\":50030,\"journal\":{\"name\":\"Journal of Systems Engineering and Electronics\",\"volume\":\"136 1\",\"pages\":\"\"},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2024-05-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Systems Engineering and Electronics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.23919/jsee.2024.000038\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Systems Engineering and Electronics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.23919/jsee.2024.000038","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

摘要

本文介绍了一种自适应控制方法，用于跟踪交互式机械手的理想轨迹。控制器设计采用了规定性能函数 (PPF)，以提高动态性能。值得注意的是，输出误差的性能被限制在一个以指数收敛为特征的包络线内，最终收敛为零。这一特点确保了导纳控制的快速响应，并为相互作用建立了可靠的安全框架。仿真结果提供了实用的见解，证明了本文提出的控制方案是可行的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Adaptive Admittance Tracking Control for Interactive Robot with Prescribed Performance

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights, demonstrating the viability of the control scheme proposed in this paper.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊