Robust Control of a Bimorph Piezoelectric Robotic Manipulator Considering Ellipsoidal-Type State Restrictions

The current study presents an adaptive control approach to solve the tracking trajectory problem for a robotic manipulator that uses gripper based on bimorph piezoelectric actuators. development of gain state feedback form considers restrictions is proposed using novel class barrier Lyapunov function drives effective joints and method allows inclusion complex combinations in function, yielding construction differential forms gains controller can handle evolution trajectories arm inside restricted region. design successfully tracks reference both as well motion device during several operative scenarios. A comprehensive experimental evaluates effect introducing state-dependent considering ellipsoidal type. comparison mean square error confirms contributions developed action, showing better quality less power with same evaluation, which desirable characteristic controlled micromanipulators. solves micromanipulation system, satisfies restrictions, performance be enforced. Furthermore, obtained seems validate controller’s contribution concerning fixed gains.