NDLI: Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints

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Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Song, Siyang She, Yu Wang, Junmin Su, Haijun
Copyright Year	2018
Abstract	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.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791851913
DOI	10.1115/DSCC2018-9006
Volume Number	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
Conference Proceedings	ASME 2018 Dynamic Systems and Control Conference
Language	English
Publisher Date	2018-09-30
Publisher Place	Atlanta, Georgia, USA
Access Restriction	Subscribed
Subject Keyword	Design Perturbation theory Uncertainty Stability Simulation results Explosions Safety State estimation Robots
Content Type	Text
Resource Type	Article

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