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Task-Space Tracking Control of Robotic Manipulator Via Intermittent Controller

MA Mihua, CAI Jianping   

  1. School of Mathematics and Statistics, Minnan Normal University, Zhangzhou 363000, China
  • Received:2021-05-03 Revised:2021-07-18 Online:2022-11-25 Published:2022-12-23
  • Supported by:
    This research was supported by the National Natural Science Foundation of China under Grant No. 61603174, and the Natural Science Foundation of Fujian under Grant No. 2020J01793.

MA Mihua, CAI Jianping. Task-Space Tracking Control of Robotic Manipulator Via Intermittent Controller[J]. Journal of Systems Science and Complexity, 2022, 35(6): 2248-2262.

An intermittent controller for robotic manipulator in task space was developed in this paper. In task space, for given a desired time-varying trajectory, the robot end-effector can track the desired target under the designed intermittent controller. Different from most of the existing works on control of robotic manipulator, the intermittent control for robotic manipulator is discussed in task space instead of joint space. Besides, the desired trajectory can be time-varying and not limited to constant. As a direct application, the authors implemented the proposed controller on tracking of a two-link robotic manipulator in task space. Numerical simulations demonstrate the effectiveness and feasibility of the proposed intermittent control strategy.
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