In this paper, a control design for a flexible link co-robot with safety constraints is proposed. The safety constraints are converted to the constraints on the tip position and velocity. To handle this constrained control problem, a barrier Lyapunov function (BLF) is employed in the control design. The derivative of the logarithmic BLF is more complicated compared with the derivative of a quadratic Lyapunov function, which makes the problem of “explosion of terms” more serious. Thus, the dynamic surface control is used to deal with the problem. Furthermore, an extended state observer is adopted to estimate and compensate the uncertainty and disturbance in the system. The stability analysis via the singular perturbation theory shows the local practical exponential stability of the system. Simulation results indicate that the control performance is guaranteed without violation of the constraints.
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ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5191-3
PROCEEDINGS PAPER
Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints
Siyang Song,
Siyang Song
University of Texas at Austin, Austin, TX
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Junmin Wang,
Junmin Wang
University of Texas at Austin, Austin, TX
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Haijun Su
Haijun Su
Ohio State University, Columbus, OH
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Siyang Song
University of Texas at Austin, Austin, TX
Yu She
Ohio State University, Columbus, OH
Junmin Wang
University of Texas at Austin, Austin, TX
Haijun Su
Ohio State University, Columbus, OH
Paper No:
DSCC2018-9006, V003T42A001; 8 pages
Published Online:
November 12, 2018
Citation
Song, S, She, Y, Wang, J, & Su, H. "Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T42A001. ASME. https://doi.org/10.1115/DSCC2018-9006
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