Robust Command-Filtered Control with Prescribed Performance for Flexible-Joint Robots
This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral disturbance observers (GPIOs). The contributions are threefold. First...
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| Veröffentlicht in: | IEEE transactions on instrumentation and measurement 2023-01, Vol.72, p.1-1 |
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| creator | Zhang, Yang Lei, Yanqiang Zhang, Tichong Song, Rui Li, Yibin Du, Fuxin |
| description | This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral disturbance observers (GPIOs). The contributions are threefold. Firstly, a prescribed performance function (PPF), compared with that of the previous schemes, frees the assumption that the initial value of tracking errors within a predetermined region and thus is global, which brings dynamic response and steady-state precision benefits. Secondly, unlike most existing backstepping controllers that handle only internal uncertainties, the method presented here also considers time-varying external disturbances which may affect the tracking performance of the FJRs. Thirdly, a second-order command filter and a filter error compensation method are designed to avoid the "complexity explosion" problem encountered in the traditional backstepping scheme. Analysis with the Lyapunov function proves the asymptotical stability of the closed-loop system. Simulation and experiments are performed to validate the feasibility and fine performance of the recommended control strategy. |
| doi_str_mv | 10.1109/TIM.2023.3306514 |
| format | Article |
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The contributions are threefold. Firstly, a prescribed performance function (PPF), compared with that of the previous schemes, frees the assumption that the initial value of tracking errors within a predetermined region and thus is global, which brings dynamic response and steady-state precision benefits. Secondly, unlike most existing backstepping controllers that handle only internal uncertainties, the method presented here also considers time-varying external disturbances which may affect the tracking performance of the FJRs. Thirdly, a second-order command filter and a filter error compensation method are designed to avoid the "complexity explosion" problem encountered in the traditional backstepping scheme. Analysis with the Lyapunov function proves the asymptotical stability of the closed-loop system. Simulation and experiments are performed to validate the feasibility and fine performance of the recommended control strategy.</description><identifier>ISSN: 0018-9456</identifier><identifier>EISSN: 1557-9662</identifier><identifier>DOI: 10.1109/TIM.2023.3306514</identifier><identifier>CODEN: IEIMAO</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Backstepping ; Closed loops ; Command-filtered control ; Control methods ; disturbance observer ; Disturbances ; Dynamic response ; Error compensation ; Explosions ; Feedback control ; flexible-joint robot (FJR) ; Liapunov functions ; mismatched disturbance ; Nonlinear dynamical systems ; prescribed performance ; Proportional integral ; Robots ; Robust control ; Stability analysis ; Time-varying systems ; Tracking errors ; Trajectory ; Uncertainty</subject><ispartof>IEEE transactions on instrumentation and measurement, 2023-01, Vol.72, p.1-1</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2023</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c292t-dc0c735f1abe8dd906b56c21f9ea9c69c629bfd70ed71618c4cb7fbc9d51a6933</citedby><cites>FETCH-LOGICAL-c292t-dc0c735f1abe8dd906b56c21f9ea9c69c629bfd70ed71618c4cb7fbc9d51a6933</cites><orcidid>0000-0003-0334-0927 ; 0009-0002-3048-7510 ; 0000-0002-5906-5074 ; 0000-0002-8075-0930 ; 0000-0001-9781-9677 ; 0000-0002-1189-3364 ; 0000-0002-4119-4433</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/10225629$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/10225629$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Zhang, Yang</creatorcontrib><creatorcontrib>Lei, Yanqiang</creatorcontrib><creatorcontrib>Zhang, Tichong</creatorcontrib><creatorcontrib>Song, Rui</creatorcontrib><creatorcontrib>Li, Yibin</creatorcontrib><creatorcontrib>Du, Fuxin</creatorcontrib><title>Robust Command-Filtered Control with Prescribed Performance for Flexible-Joint Robots</title><title>IEEE transactions on instrumentation and measurement</title><addtitle>TIM</addtitle><description>This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral disturbance observers (GPIOs). The contributions are threefold. Firstly, a prescribed performance function (PPF), compared with that of the previous schemes, frees the assumption that the initial value of tracking errors within a predetermined region and thus is global, which brings dynamic response and steady-state precision benefits. Secondly, unlike most existing backstepping controllers that handle only internal uncertainties, the method presented here also considers time-varying external disturbances which may affect the tracking performance of the FJRs. Thirdly, a second-order command filter and a filter error compensation method are designed to avoid the "complexity explosion" problem encountered in the traditional backstepping scheme. Analysis with the Lyapunov function proves the asymptotical stability of the closed-loop system. Simulation and experiments are performed to validate the feasibility and fine performance of the recommended control strategy.</description><subject>Backstepping</subject><subject>Closed loops</subject><subject>Command-filtered control</subject><subject>Control methods</subject><subject>disturbance observer</subject><subject>Disturbances</subject><subject>Dynamic response</subject><subject>Error compensation</subject><subject>Explosions</subject><subject>Feedback control</subject><subject>flexible-joint robot (FJR)</subject><subject>Liapunov functions</subject><subject>mismatched disturbance</subject><subject>Nonlinear dynamical systems</subject><subject>prescribed performance</subject><subject>Proportional integral</subject><subject>Robots</subject><subject>Robust control</subject><subject>Stability analysis</subject><subject>Time-varying systems</subject><subject>Tracking errors</subject><subject>Trajectory</subject><subject>Uncertainty</subject><issn>0018-9456</issn><issn>1557-9662</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkEFLAzEQhYMoWKt3Dx4WPG-dZDfZzVGK1UrFIu05bJJZ3LLd1CRF_femtAdhYIbHezPDR8gthQmlIB9W87cJA1ZMigIEp-UZGVHOq1wKwc7JCIDWuSy5uCRXIWwAoBJlNSLrD6f3IWZTt902g81nXR_Ro03CEL3rs-8ufmZLj8H4Tid9ib51PnkNZmnIZj3-dLrH_NV1Q8zSOhfDNblomz7gzamPyXr2tJq-5Iv35_n0cZEbJlnMrQFTFbyljcbaWglCc2EYbSU20ohUTOrWVoC2ooLWpjS6arWRltNGyKIYk_vj3p13X3sMUW3c3g_ppGK1YKKsgYnkgqPLeBeCx1btfLdt_K-ioA7wVIKnDvDUCV6K3B0jHSL-szPG00_FH_BPa_g</recordid><startdate>20230101</startdate><enddate>20230101</enddate><creator>Zhang, Yang</creator><creator>Lei, Yanqiang</creator><creator>Zhang, Tichong</creator><creator>Song, Rui</creator><creator>Li, Yibin</creator><creator>Du, Fuxin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7U5</scope><scope>8FD</scope><scope>L7M</scope><orcidid>https://orcid.org/0000-0003-0334-0927</orcidid><orcidid>https://orcid.org/0009-0002-3048-7510</orcidid><orcidid>https://orcid.org/0000-0002-5906-5074</orcidid><orcidid>https://orcid.org/0000-0002-8075-0930</orcidid><orcidid>https://orcid.org/0000-0001-9781-9677</orcidid><orcidid>https://orcid.org/0000-0002-1189-3364</orcidid><orcidid>https://orcid.org/0000-0002-4119-4433</orcidid></search><sort><creationdate>20230101</creationdate><title>Robust Command-Filtered Control with Prescribed Performance for Flexible-Joint Robots</title><author>Zhang, Yang ; Lei, Yanqiang ; Zhang, Tichong ; Song, Rui ; Li, Yibin ; Du, Fuxin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c292t-dc0c735f1abe8dd906b56c21f9ea9c69c629bfd70ed71618c4cb7fbc9d51a6933</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Backstepping</topic><topic>Closed loops</topic><topic>Command-filtered control</topic><topic>Control methods</topic><topic>disturbance observer</topic><topic>Disturbances</topic><topic>Dynamic response</topic><topic>Error compensation</topic><topic>Explosions</topic><topic>Feedback control</topic><topic>flexible-joint robot (FJR)</topic><topic>Liapunov functions</topic><topic>mismatched disturbance</topic><topic>Nonlinear dynamical systems</topic><topic>prescribed performance</topic><topic>Proportional integral</topic><topic>Robots</topic><topic>Robust control</topic><topic>Stability analysis</topic><topic>Time-varying systems</topic><topic>Tracking errors</topic><topic>Trajectory</topic><topic>Uncertainty</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zhang, Yang</creatorcontrib><creatorcontrib>Lei, Yanqiang</creatorcontrib><creatorcontrib>Zhang, Tichong</creatorcontrib><creatorcontrib>Song, Rui</creatorcontrib><creatorcontrib>Li, Yibin</creatorcontrib><creatorcontrib>Du, Fuxin</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>IEEE transactions on instrumentation and measurement</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Zhang, Yang</au><au>Lei, Yanqiang</au><au>Zhang, Tichong</au><au>Song, Rui</au><au>Li, Yibin</au><au>Du, Fuxin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robust Command-Filtered Control with Prescribed Performance for Flexible-Joint Robots</atitle><jtitle>IEEE transactions on instrumentation and measurement</jtitle><stitle>TIM</stitle><date>2023-01-01</date><risdate>2023</risdate><volume>72</volume><spage>1</spage><epage>1</epage><pages>1-1</pages><issn>0018-9456</issn><eissn>1557-9662</eissn><coden>IEIMAO</coden><abstract>This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral disturbance observers (GPIOs). 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| subjects | Backstepping Closed loops Command-filtered control Control methods disturbance observer Disturbances Dynamic response Error compensation Explosions Feedback control flexible-joint robot (FJR) Liapunov functions mismatched disturbance Nonlinear dynamical systems prescribed performance Proportional integral Robots Robust control Stability analysis Time-varying systems Tracking errors Trajectory Uncertainty |
| title | Robust Command-Filtered Control with Prescribed Performance for Flexible-Joint Robots |
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