Asymmetric integral barrier function-based tracking control of constrained robots
In this paper, a new-type time-varying asymmetric integral barrier function is designed to handle the state constraint of nonlinear systems. The barrier Lyapunov function is developed by building an integral upper limit function with respect to transformation errors over an open set to cope with the...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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AIMS Press
2024-01-01
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| Series: | AIMS Mathematics |
| Subjects: | |
| Online Access: | https://www.aimspress.com/article/doi/10.3934/math.2024019?viewType=HTML |
| _version_ | 1797394919669628928 |
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| author | Tan Zhang Pianpian Yan |
| author_facet | Tan Zhang Pianpian Yan |
| author_sort | Tan Zhang |
| collection | DOAJ |
| description | In this paper, a new-type time-varying asymmetric integral barrier function is designed to handle the state constraint of nonlinear systems. The barrier Lyapunov function is developed by building an integral upper limit function with respect to transformation errors over an open set to cope with the position constraint of the robotic system. We know that the symmetric time-invariant constraint is only a particular situation of the asymmetric time-variant constraint, and thus compared to existing methods, it is capable of handling more general and broad practical engineering issues. We show that under the integral barrier Lyapunov function combining a disturbance observer-based tracking controller, the position vector tracks a desired trajectory successfully, while the constraint boundary is never violated. It can certify the exponential asymptotic stability of the robotic tracking system by using the given inequality relationship on barrier function and Lyapunov analysis. Finally, the feasibility of the presented algorithm is indicated by completing the simulations. |
| first_indexed | 2024-03-09T00:26:44Z |
| format | Article |
| id | doaj.art-dde7c3af289447cd8b1b79045ee2c55f |
| institution | Directory Open Access Journal |
| issn | 2473-6988 |
| language | English |
| last_indexed | 2024-03-09T00:26:44Z |
| publishDate | 2024-01-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | AIMS Mathematics |
| spelling | doaj.art-dde7c3af289447cd8b1b79045ee2c55f2023-12-12T01:49:17ZengAIMS PressAIMS Mathematics2473-69882024-01-019131933910.3934/math.2024019Asymmetric integral barrier function-based tracking control of constrained robotsTan Zhang0Pianpian Yan 1School of Electrical and Optoelectronic Engineering, West Anhui University, Lu'an 237012, ChinaSchool of Electrical and Optoelectronic Engineering, West Anhui University, Lu'an 237012, ChinaIn this paper, a new-type time-varying asymmetric integral barrier function is designed to handle the state constraint of nonlinear systems. The barrier Lyapunov function is developed by building an integral upper limit function with respect to transformation errors over an open set to cope with the position constraint of the robotic system. We know that the symmetric time-invariant constraint is only a particular situation of the asymmetric time-variant constraint, and thus compared to existing methods, it is capable of handling more general and broad practical engineering issues. We show that under the integral barrier Lyapunov function combining a disturbance observer-based tracking controller, the position vector tracks a desired trajectory successfully, while the constraint boundary is never violated. It can certify the exponential asymptotic stability of the robotic tracking system by using the given inequality relationship on barrier function and Lyapunov analysis. Finally, the feasibility of the presented algorithm is indicated by completing the simulations.https://www.aimspress.com/article/doi/10.3934/math.2024019?viewType=HTMLintegral barrier functionconstraintstracking controlnonlinear systemrobot |
| spellingShingle | Tan Zhang Pianpian Yan Asymmetric integral barrier function-based tracking control of constrained robots AIMS Mathematics integral barrier function constraints tracking control nonlinear system robot |
| title | Asymmetric integral barrier function-based tracking control of constrained robots |
| title_full | Asymmetric integral barrier function-based tracking control of constrained robots |
| title_fullStr | Asymmetric integral barrier function-based tracking control of constrained robots |
| title_full_unstemmed | Asymmetric integral barrier function-based tracking control of constrained robots |
| title_short | Asymmetric integral barrier function-based tracking control of constrained robots |
| title_sort | asymmetric integral barrier function based tracking control of constrained robots |
| topic | integral barrier function constraints tracking control nonlinear system robot |
| url | https://www.aimspress.com/article/doi/10.3934/math.2024019?viewType=HTML |
| work_keys_str_mv | AT tanzhang asymmetricintegralbarrierfunctionbasedtrackingcontrolofconstrainedrobots AT pianpianyan asymmetricintegralbarrierfunctionbasedtrackingcontrolofconstrainedrobots |