A Control Method for Coupled Output-Constrained Robotic System

In this paper, a novel control strategy is proposed to deal with the coupled output constraints of the robotic system. A transformation matrix is designed to decouple the relations of the output constraints and transform the problem into an uncoupling time-varying constrained problem. The controller is designed based on the time-varying barrier Lyapunov function (TVBLF) to ensure the transformed tracking errors remain within the pre-specified bounds, and the robotic system achieves asymptotic stability under the proposed controller by the Lyapunov direct method. Finally, numerical simulation results are given to illustrate the effectiveness of the proposed control strategy.