Improved Barrier Function with Adjustable Parameter-based Tracking Control for Robot under Position Constraints

An improved time-variant asymmetric integral barrier function with adjustable parameters is constructed for the first time in this study. The presented function, which by designing an upper limit can be used constraint issues of nonlinear systems. With aid control performance system only changing adjustment when fixing controller. Then, tracking controller developed using to solve position robot n-degrees. Additionally, a disturbance observer designed enhance robustness system. We prove that under controller, robotic system’s error signals trend zero asymptotically and boundary not broken at all help proposed Theorem 1 Lyapunov analysis. In end, effectiveness handling state constraints clarified completing multiple simulation cases.