Fast and accurate tracking control of robotic manipulators subject to state constraints and input saturation by effectively integrating planning strategies

• Published in: ISA transactions Vol. 149; pp. 373 - 380
• Main Authors: Fu, Jinna, Liu, Xingyi, Liu, Yingqiang, Chen, Zheng, Yao, Bin
• Format: Journal Article
• Language: English
• Published: United States Elsevier Ltd 01.06.2024
• Subjects: Adaptive robust control; Input saturation; Robotic manipulator; State constraints; Tracking control; Input saturation; Robotic manipulator; Tracking control; Adaptive robust control; State constraints
• ISSN: 0019-0578; 1879-2022; 1879-2022
• DOI: 10.1016/j.isatra.2024.04.012

This paper presents a two-loop control framework for robotic manipulator systems subject to state constraints and input saturation, which effectively integrates planning and control strategies. Namely, a stability controller is designed in the inner loop to address uncertainties and nonlinearities; an optimization-based generator is constructed in the outer loop to ensure that state and input constraints are obeyed while concurrently minimizing the convergence time. Furthermore, to dramatically the computational burden, the optimization-based generator in the outer loop is switched to a direct model-based generator when the tracking errors are sufficiently small. In this way, both a high tracking accuracy and fast dynamic response are obtained for constrained robotic manipulator systems with considerably lower computational burden. The superiority and effectiveness of the proposed structure are illustrated through comparative simulations and experiments. •A general and systematic constrained control scheme for robotic manipulators.•Nonlinearities, uncertainties, state and input constraints are considered.•Adaptive robust controller is designed for high tracking accuracy.•Optimization-based generator is designed for fast dynamic response.•Experiments on Franka robotic manipulator reveal the effectiveness.