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Command-filter-based Backstepping Control for Flexible Joint Manipulator Systems with Full-state Constrains

Kang Yang and Lin Zhao*
International Journal of Control, Automation, and Systems, vol. 20, no. 7, pp.2231-2238, 2022

Abstract : "In this paper, a novel backstepping control method based on command filter is proposed for the trajectory tracking control of flexible joint manipulator systems with full-state constraints. Firstly, in order to solve the problem of calculating complexity caused by repeating differential of virtual control in traditional backstepping, the command flier is used. Then, the filtering error compensation mechanism is established to compensate filtering errors caused by the command filter, and the full states of system will not exceed the constraints by using barrier Lyapunov functions in virtual control design. It is shown that the given scheme can make joint position tracking error exponentially converge to the origin by using Lyapunov stability theorem. The effectiveness of this scheme is verified by using numerical simulation at last. "

Keyword : Barrier Lyapunov functions, command filtered backstepping, flexible joint manipulator, full-state constraints.

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