Improved Time-Varying BLF-Based Tracking Control of a Position-Constrained Robot

In this work, one improved symmetric time-variant logarithmic barrier, Lyapunov function (BLF), is developed for the first time to handle state constraint problem of nonlinear systems. It universal in sense that barrier a general can be used not only systems with constrained requirements but also without requirements, altering designed controller. First all, n-link robotic system transformed into kind multi-input and multi-output (MIMO) system. Then, trajectory tracking control scheme by combining BLF disturbance observer solve problems model uncertainty position We give under proposed controller, all system’s error vectors trend equilibrium point asymptotically while conditions on are always met. Finally, effectiveness presented indicated completing two simulation experiment cases.