Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors

This paper is devoted to the practical tracking control for a class of flexible-joint robotic manipulators driven by DC motors. Different from related literature where constraint neglected and disturbances are excluded or only exist in one subsystem, actuator saturation considered this paper, while present all three subsystems. leads incapability traditional schemes on topic. For this, novel design scheme proposed skillfully incorporating adaptive dynamic compensation technique, constructive methods command filters an auxiliary system into backstepping framework, turn controller which ensures that states resulting closed-loop bounded output practically tracks reference signal. It worthwhile strengthening more wider signals can be tracked since they first-order continuously differentiable but twice literature. Finally, numerical example provided validate effectiveness theoretical results.