Backstepping funnel control for prescribed performance of robotic manipulators with unknown dead zone

Xiaoqing Tang, Qiang Chen, Yurong Nan, Jing Na

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

8 Citations (Scopus)

Abstract

In this paper, a backstepping funnel control (BFC) is proposed to achieve a prescribed tracking performance for robotic manipulator systems with unknown input dead zone. According to the differential mean value theorem, the dead zone inverse compensation approach is avoided by representing the dead zone as a linear time-varying system. Without constructing the complex barrier Lyapunov function, a new constraint variable is employed and the tracking error will be forced to fall into prescribe boundaries. A simple sigmoid neural network is utilized to approximate the system uncertainties and the calculation of derivative terms generated by the recursive steps of traditional backstepping control can be avoided. With the proposed scheme, no prior knowledge is required on the bound of input dead zone, and the convergence of the position tracking error is guaranteed via the Lyapunov synthesis. Comparative simulation examples are given to illustrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1508-1513
Number of pages6
ISBN (Print)9781479970179
DOIs
Publication statusPublished - 17 Jul 2015
Event27th Chinese Control and Decision Conference, CCDC 2015 - Qingdao, China
Duration: 23 May 201525 May 2015

Conference

Conference27th Chinese Control and Decision Conference, CCDC 2015
CountryChina
CityQingdao
Period23/05/1525/05/15

Keywords

  • Backstepping Control
  • Dead Zone
  • Funnel Control
  • Servo System

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