Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint

Yang Yang; Jie Tan; Dong Yue

doi:10.1109/JAS.2018.7511099

Volume 6 Issue 1

Jan. 2019

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2019 > 6(1): 148-157

Yang Yang, Jie Tan and Dong Yue, "Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 148-157, Jan. 2019. doi: 10.1109/JAS.2018.7511099

Citation:

Yang Yang, Jie Tan and Dong Yue, "Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 148-157, Jan. 2019. doi: 10.1109/JAS.2018.7511099

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Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint

doi: 10.1109/JAS.2018.7511099

Yang Yang^{1
,
,},
Jie Tan^1
,,
Dong Yue^{1, 2
,}

1.
College of Automation and the College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China
2.
Institute of Advanced Technology and Jiangsu Engineering Laboratory of Big Data Analysis and Control for Active Distribution Network, Nanjing University of Posts and Telecommunications, Nanjing 210023, China

Funds:

the National Natural Science Foundation of China 61873130

the National Natural Science Foundation of China 61533010

the National Natural Science Foundation of China 61503194

the National Natural Science Foundation of China 61633016

the Natural Science Foundation of Jiangsu Province BK20140877

the Research and Development Program of Jiangsu BE2016184

the Jiangsu Government Scholarship for Overseas Studies 2017-037

More Information

Author Bio:
Yang Yang (M'18) is currently an Associate Professor with the College of Automation and the College of Artificial Intelligence, Nanjing University of Posts and Telecommunications (NUPT), Nanjing, China. He was a recipient of the National Scholarship for Ph.D. candidates, the HOSCO Special Award, Jiangsu Government Scholarship for Overseas Studies and the Excellent Postdoctoral Research Fellow Award of NUPT. From June, 2018, he is a Visiting Research Fellow with the School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane QLD, Australia. He severs as a Reviewer for various peer-reviewed journals

Jie Tan is currently a graduate student majored in control theory and control engineering at the College of Automation, Nanjing University of Posts and Telecommunications, Jiangsu, China. His main research interest is nonlinear control theory.(e-mail: 2225768497@qq.com)

Dong Yue (M'05-SM'08) received the Ph.D. degree from South China University of Technology, Guangzhou, China, in 1995. He is currently a Professor and Dean of the Institute of Advanced Technology, Nanjing University of Posts and Telecommunications and also a Changjiang Professor with the Department of Control Science and Engineering, Huazhong University of Science and Technology. He is currently an Associate Editor of the IEEE Control Systems Society Conference Editorial Board and also an Associate Editor of the IEEE Transactions on Neural Networks and Learning Systems and the International Journal of Systems Science. Up to now, he has published more than 100 papers in international journals, domestic journals, and international conferences. His research interests include analysis and synthesis of networked control systems, multi-agent systems, optimal control of power systems, and internet of things.(e-mail: medongy@vip.163.com)
Corresponding author: Yang Yang, e-mail: yyang@njupt.edu.cn
Received Date: 2017-06-21
Revised Date: 2017-10-10
Accepted Date: 2017-12-23

Abstract

Abstract

In this paper, we mainly address the position control problem for one-degree of freedom (DOF) link manipulator despite uncertainties and the input saturation via the backstepping technique, active disturbance rejection control (ADRC) as well as predefined tracking performance functions. The extended state observer (ESO) is employed to compensate uncertain dynamics and disturbances, and it does not rely on the accurate model of systems. The tracking differentiator (TD) is utilized to substitute the derivative of the virtual control signals, and the explosion of complexity caused by repeated differentiations of nonlinear functions is removed. The auxiliary system is used to deal with the control input limitation, and the tracking accuracy and speed are improved by predefined tracking performance functions. With the help of the input-to-state stability (ISS) and Lyapunov stability theories, it is proven that the tracking error can be gradually converged into arbitrarily small neighborhood of the origin, and the tracking error is adjusted by suitable choice of control parameters. The simulation results are presented for the verification of the theoretical claims.
- Active disturbance rejection control (ADRC),
- auxiliary system,
- backstepping technique,
- input saturation,
- predefined tracking performance function

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References(63)

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Prescribed Performance Control of One-DOF Link Manipulator With Uncertainties and Input Saturation Constraint

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