Practical Tracking Control Under Actuator Saturation for a Class of Flexible-Joint Robotic Manipulators Driven by DC Motors

Practical Tracking Control Under Actuator Saturation for a Class of Flexible-Joint Robotic Manipulators Driven by DC Motors | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Practical Tracking Control Under Actuator Saturation for a Class of Flexible-Joint Robotic Manipulators Driven by DC Motors Jian Li, Lingling Zhu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-1163977/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 4 You are reading this latest preprint version Abstract This paper is devoted to the practical tracking control for a class of flexible-joint robotic manipulators driven by DC motors. Different from the related literature where control constraint is neglected and the disturbances are excluded or only exist in one subsystem, actuator saturation is considered in this paper while the disturbances are present in all the three subsystems. This leads to the incapability of the traditional schemes on this topic. For this, a novel control design scheme is proposed by skillfully incorporating adaptive dynamic compensation technique, constructive methods of command filters and an auxiliary system for the actuator saturation into the backstepping framework, and in turn to design a practical tracking controller which ensures that all the states of the resulting closed-loop system are bounded and the system output practically tracks the reference signal. It is worthwhile strengthening that a more wider class of reference signals can be tracked since they are only first order continuously differentiable but twice or more in the related literature. Finally, a numerical example is provided to validate the effectiveness of the proposed theoretical results. Electrical Engineering Mechanical Engineering Flexible-joint robot tracking control actuator saturation adaptive control Full Text Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 13 Jan, 2022 Reviewers invited by journal 13 Jan, 2022 Editor assigned by journal 15 Dec, 2021 First submitted to journal 12 Dec, 2021 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-1163977","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":76350791,"identity":"a38f0de9-0012-493e-9eff-474f8fc7e3ee","order_by":0,"name":"Jian Li","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA2klEQVRIiWNgGAWjYHACxgMJPBIMDOwNEF4DQQ1sDAwQLTwHwKqJ1AJmSCQQqcXgfo/BgQcyFvLmkm/MH/Mw2MhuOMD87AFeLcd4DEAOM9w5O8ewmYchzXjDATZzA2K0MG64DdZyOHHDAR42CWK02G+4eQak5T/xWhI33OABaTlAWIvksbQCkJbkDWfSCmfOMUg2nnmYzQyvFr7Dhzc+/NlTZ7vh+OENH95U2Mn2HW9+hleLwgEgwdgDYnIAwwkUVMz41AOBfAOI/AEi2B8QUDsKRsEoGAUjFQAArW1NMLqvCD0AAAAASUVORK5CYII=","orcid":"https://orcid.org/0000-0001-8783-6000","institution":"Yantai University","correspondingAuthor":true,"prefix":"","firstName":"Jian","middleName":"","lastName":"Li","suffix":""},{"id":76350792,"identity":"4cf7a5b5-b8be-40c5-b754-d13115d69586","order_by":1,"name":"Lingling Zhu","email":"","orcid":"","institution":"Yantai University","correspondingAuthor":false,"prefix":"","firstName":"Lingling","middleName":"","lastName":"Zhu","suffix":""}],"badges":[],"createdAt":"2021-12-12 14:54:52","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-1163977/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-1163977/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":17321224,"identity":"c91eca19-6bfc-4e4f-b3c2-c39a01099ada","added_by":"auto","created_at":"2022-01-14 14:45:15","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":712231,"visible":true,"origin":"","legend":"","description":"","filename":"ptc1212.pdf","url":"https://assets-eu.researchsquare.com/files/rs-1163977/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"\u003cp\u003ePractical Tracking Control Under Actuator Saturation for a Class of Flexible-Joint Robotic Manipulators Driven by DC Motors\u003c/p\u003e","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-1163977/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Flexible-joint robot, tracking control, actuator saturation, adaptive control","lastPublishedDoi":"10.21203/rs.3.rs-1163977/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-1163977/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper is devoted to the practical tracking control for a class of flexible-joint robotic manipulators driven by DC motors. 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