Tracking Control of Uncertain Robotic Systems with Function Constraints on States

Abstract

This work investigates an adaptive control approach for output constrained uncertain robotic systems. In contrast to the currently studied case, where the constraint boundary functions are purely determined by time, the constraint boundary functions in this situation are dictated by the operation time and desired trajectory or even link displacement. By introducing the virtual parameter and constructing the barrier Lyapunov function, the presented control scheme not only ensures that such state constraints for robotic systems are not violated, it also assures that link displacement tracks the desired trajectory closely. Numerical simulation and stability analysis verify the effectiveness of the designed algorithm.