Adaptive admittance tracking control for interactive robot with prescribed performance  

作　　者：MENG Qingrui LIN Yan 

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100190,China [2]College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266590,China

出　　处：《Journal of Systems Engineering and Electronics》2024年第2期444-450,共7页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China (62073197;61933006);National International Science and Technology Cooperation Base on Railway Vehicle Operation Engineering of Beijing Jiaotong University (BMRV20KF08)。

摘　　要：An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

关 键 词：prescribed performance admittance control adaptive control ROBOTS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]