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Robust adaptive flexible prescribed performance tracking and vibration control for rigid–flexible coupled robotic systems with input quantization

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Abstract

With the increasing demands for more flexibility, lighter weight, and larger working space of industrial robotic systems in many fields, the rigid–flexible coupled robotic systems attract more attention. In this work, the desired angular tracking and vibration suppression issues are investigated for the rigid–flexible coupled robotic systems (RFCRSs) in the presence of input quantization. The vibrating displacement is coupled nonlinear due to the coupling between two joints’ angular positions and flexible displacements. Using the assumed mode principle, the nonlinear infinite-dimension dynamics of rigid–flexible coupled robotic systems are reduced by ordinary differential equations. With the backstepping-based Lyapunov method, robust adaptive flexible prescribed performance control (FPPC) law is developed to track the given angular positions and to reduce the vibration oscillations. Besides, the robust adaptive update law is incorporated into the quantized FPPC for estimating the unknown parameters of logarithmic quantizers in the face of input quantization. In terms of the above robust adaptive FPPC control, the tracking errors of the RFCRSs eventually converge to a compact set in face of input quantization. At last, three comparison cases are implemented to verify the efficacy of the proposed robust adaptive FPPC strategy in comparison with the PD feedback law.

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Acknowledgements

This work is partially supported by the National Natural Science Foundation of China under grant numbers [Grant Nos. 62173182, 61773212]; and the international science and technology innovation cooperation key project [Grant No. 2021YFE0102700];

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Authors and Affiliations

  1. School of Electrical Engineering, Nantong University, Nantong, 226019, Jiangsu, People’s Republic of China

    Xingyu Zhou

  2. LaFCAS, School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, Jiangsu, People’s Republic of China

    Haoping Wang & Yang Tian

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  1. Xingyu Zhou
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  2. Haoping Wang
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Correspondence to Haoping Wang.

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Zhou, X., Wang, H. & Tian, Y. Robust adaptive flexible prescribed performance tracking and vibration control for rigid–flexible coupled robotic systems with input quantization. Nonlinear Dyn 112, 1951–1969 (2024). https://doi.org/10.1007/s11071-023-09139-6

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  • DOI: https://doi.org/10.1007/s11071-023-09139-6

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