Abstract
This paper investigates a general control strategy to track the reference trajectory for the constrained Euler–Lagrange system with model uncertainties and unknown external disturbances. Unlike the disturbances assumed to be upper-bounded by a constant in other papers, we consider the disturbances to be bounded by a function of the system states, which are more realistic. First, the nominal controller was designed based on the nonsingular fast terminal sliding mode control, and global fast finite-time convergence to the sliding surface was guaranteed. As the system is state-constrained in this paper, we introduce the control barrier function approach to formulate the constraints and ensure the system does not break the restrictions. The proposed control strategy was numerically assessed on a two-link robot manipulator system, and the simulation results illustrate the effectiveness of the proposed control strategy.
Published Version (Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.