UDE-Based Adaptive Asymptotic Tracking Control for a Dual-Arm Robot with Input-and-Output Constraints

Abstract

In this paper, an adaptive control scheme is proposed to tackle the tracking problem of an input-and-output constrained dual-arm robot (DAR) with uncertainties and external disturbance. A time-synchronized stable estimator is designed to compensate for the adverse effect of the system uncertainties and unknown disturbance, and guarantees that estimation error of each dimension can achieve convergence at the same time. Furthermore, an input saturation auxiliary variable and an integral barrier Lyapunov function (iBLF) are utilized to ensure the input and output remain within the pre-specified bounds and normal status of the system can be guaranteed. Meanwhile, considering the estimation performance, trajectory tracking, and constraint handling, an analysis based on the Lyapunov direct method is given to illustrate the asymptotic stability of the DAR tracking system. Finally, numerical simulations are conducted to verify the effectiveness and feasibility of the proposed control scheme.