Adaptive admittance tracking control for interactive robot with prescribed performance

doi:10.23919/JSEE.2024.000038

Journal of Systems Engineering and Electronics ›› 2024, Vol. 35 ›› Issue (2): 444-450.doi: 10.23919/JSEE.2024.000038

• CONTROL THEORY AND APPLICATION • Previous Articles Next Articles

Adaptive admittance tracking control for interactive robot with prescribed performance

Qingrui MENG¹(), Yan LIN²^,*()

¹ School of Automation Science and Electrical Engineering, Beihang University, Beijing 100190, China
² College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China

Received:2023-12-19 Accepted:2024-02-23 Online:2024-04-18 Published:2024-04-18
Contact: Yan LIN E-mail:mengqingrui@buaa.edu.cn;linyan@buaa.edu.cn
About author:
MENG Qingrui was born in 1993. He received his B.E. degree in automation science and electrical engineering in 2016 from Beihang University, Beijing, China, where he is currently working toward his Ph.D. degree in control theory and control engineering with the School of Automation. His research interests include adaptive control, system identification and robot control systems. E-mail: mengqingrui@buaa.edu.cn

LIN Yan was born in 1955. He received his B.E. degree from Beijing Institute of Aeronautics and Astronautics in 1983, and M.S. and Ph.D. degrees from Beihang University, Beijing, China, in 1988 and 1999, respectively. He was a professor with the School of Automation, Beihang University. He is currently a professor with the College of Electrical Engineering and Automation, Shandong University of Science and Technology. His research interests include adaptive control and fault-tolerant flight control systems. E-mail: linyan@buaa.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (62073197; 61933006), and National International Science and Technology Cooperation Base on Railway Vehicle Operation Engineering of Beijing Jiaotong University (BMRV20KF08).

Abstract

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.

Key words: prescribed performance, admittance control, adaptive control, robots

Qingrui MENG, Yan LIN. Adaptive admittance tracking control for interactive robot with prescribed performance[J]. Journal of Systems Engineering and Electronics, 2024, 35(2): 444-450.

Figures/Tables 11

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References 32

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Adaptive admittance tracking control for interactive robot with prescribed performance

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