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Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator

Bingjie Xu (School of Mechanical Engineering, Shandong University, Jinan, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, China and Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education of the People's Republic of China, Jinan, China)
Shuai Ji (School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan, China)
Chengrui Zhang (School of Mechanical Engineering, Shandong University, Jinan, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, China and Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education of the People's Republic of China, Jinan, China)
Chao Chen (School of Mechanical Engineering, Yangzhou University, Yangzhou, China)
Hepeng Ni (Schools of Mechanical and Electronics Engineering, Shandong Jianzhu University, Jinan, China)
Xiaojian Wu (School of Mechanical Engineering, Shandong University, Jinan, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, China and Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education of the People's Republic of China, Jinan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 10 June 2021

Issue publication date: 19 August 2021

183

Abstract

Purpose

Trajectory tracking error of robotic manipulator has limited its applications in trajectory tracking control systems. This paper aims to improve the trajectory tracking accuracy of robotic manipulator, so a linear-extended-state-observer (LESO)-based prescribed performance controller is proposed.

Design/methodology/approach

A prescribed performance function with the convergence rate, maximum overshoot and steady-state error is derived for the output error transformation, whose stability can guarantee trajectory tracking accuracy of the original robotic system. A LESO is designed to estimate and eliminate the total disturbance, which neither requires a detailed system model nor a heavy computation load. The stability of the system is proved via the Lyapunov theory.

Findings

Comparative experimental results show that the proposed controller can achieve better trajectory tracking accuracy than proportional-integral-differential control and linear active disturbance rejection control.

Originality/value

In the LESO-based prescribed performance control (PPC), the LESO was incorporated into the PPC design, it solved the problem of stabilizing the complex transformed system and avoided the costly offline identification of dynamic model and estimated and eliminated the total disturbance in real-time with light computational burden. LESO-based PPC further improved control accuracy on the basis of linear-active-disturbance-rejection-control. The new proposed method can reduce the trajectory tracking error of the robotic manipulators effectively on the basis of simplicity and stability.

Keywords

Acknowledgements

The authors would like to thank the supports from the National Key R&D Program of China (Grant No.2016YFD0700504), the Natural Science Foundation of Shandong Province (Grant No.ZR2019QEE042), Development and Application Demonstration of Intelligent Management and Control System for Tire Sticker Production Line (Grant No.2019JZZY020121) for the support given to this research.

Citation

Xu, B., Ji, S., Zhang, C., Chen, C., Ni, H. and Wu, X. (2021), "Linear-extended-state-observer-based prescribed performance control for trajectory tracking of a robotic manipulator", Industrial Robot, Vol. 48 No. 4, pp. 544-555. https://doi.org/10.1108/IR-07-2020-0150

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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