Disturbance Observer-Based Tracking Controller for n-Link Flexible-Joint Robots Subject to Time-Varying State Constraints

• Published in: Electronics (Basel) Vol. 13; no. 9; p. 1773
• Main Authors: Zhang, Zhongcai, Hu, Xueli, Huang, Peng
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.05.2024
• Subjects: Algorithms; Constraints; Control theory; Controllers; Design; Disturbance observers; Neural networks; Robots; Stability analysis; Tracking control; Tracking errors
• ISSN: 2079-9292; 2079-9292
• DOI: 10.3390/electronics13091773

This paper addresses the tracking control for an n-link flexible-joint robot system with full-state constraints and external disturbances. First, a nonlinear disturbance observer (NDO) is introduced to asymptotically estimate and suppress the influence of the related disturbances. Next, the constrained system under consideration is transformed into a new unconstrained system using state-dependent function (SDF) transformations. Subsequently, a NDO-based tracking controller that combines the backstepping method and filter technique is proposed in this work. Based on stability analysis, it can be proven that the tracking error converges to a predefined compact set, which can be arbitrarily small without violating the full-state constraints. Finally, simulation results are presented to demonstrate the validity of the suggested control algorithm.