Controlador adaptable con restricciones exponenciales para manipuladores robóticos

Manuela Gómez-Correa; David Cruz-Ortiz; Ivan de Jesús Salgado-Ramos; Mariana Felisa Ballesteros-Escamilla

doi:10.29057/icbi.v11iEspecial4.11408

Manuela Gómez-Correa Instituto Politécnico Nacional, CIDETEC https://orcid.org/0000-0002-8889-7857
David Cruz-Ortiz Instituto Politécnico Nacional, UPIBI https://orcid.org/0000-0003-2066-7470
Ivan de Jesús Salgado-Ramos Instituto Politécnico Nacional, CIDETEC https://orcid.org/0000-0002-3854-7031
Mariana Felisa Ballesteros-Escamilla Instituto Politécnico Nacional, CIDETEC y UPIBI https://orcid.org/0000-0003-2879-4474

DOI: https://doi.org/10.29057/icbi.v11iEspecial4.11408

Keywords: Exponential Constraint, Lyapunov Function, Adaptative Proportional Derivative Controller

Abstract

A controller is designed to solve the problems associated with the trajectory tracking of a manipulator robot. The structure that contemplates the control is proportional derivative (PD) with the implementation of adaptive gains. A Lyapunov barrier function is used as the law of adaptation of the controller gains. This function considers a logarithmic structure and a variable limit or barrier in time through a decreasing exponential function. The designed barrier imposes an exponential decrease in the following error. The designed control is implemented numerically for a two-degree-of-freedom robotic arm model. Also, to observe the advantages of the designed control, it was compared with a classic PD controller. The adaptive PD has a smaller root mean square error than the classical PD. The designed control is tested with different convergence parameters, and the results show how the imposed barrier causes a preset system velocity.

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