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.
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)。
