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| This paper studies the trajectory tracking of manipulator under disturbances and full state constraints. Firstly, for time-varying disturbances of manipulator, under reasonable assumptions, a disturbance observer is designed to estimate time-varying disturbances. Then, by making full use of the properties of the system, skillfully constructs a barrier Lyapunov function, and designs a vector state feedback tracking controller based on disturbance observer, so that the tracking error can be sufficiently small by adjusting the parameters while keeping the state limited. Finally, the effectiveness of the control strategy is verified by a two degree of freedom manipulator system. |
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| Keywords:Operational Research and Cybernetics; Disturbance observer; State constraints; Manipulator; Trajectory tracking. |
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