Adaptive command filtered backstepping asymptotic tracking control for uncertain manipulator systems

被引：0
|
作者：
Zhao L. [1 ]
Xu Z.-G. [1 ]
机构：
[1] School of Automation, Qingdao University, Qingdao
来源：
Kongzhi yu Juece/Control and Decision | 2023年 / 38卷 / 09期
关键词：
adaptive control; asymptotic tracking control; command filtered backstepping; manipulator;
D O I：
10.13195/j.kzyjc.2022.0045
中图分类号：
学科分类号：
摘要：
This paper studies the adaptive asymptotic tracking control problem of robot manipulators with unknown parameters and external disturbances. An novel adaptive command filtered backstepping strategy is given, in which the command filters are used to avoid the differential calculations of virtual control functions in conventional backstepping, and the error compensation mechanism is established to compensate for filtering errors. Compared with the existing command filtered backstepping tracking control for robot manipulators, the tracking error can asymptotically converge to the origin, and only one adaptive parameter needs to be designed. Finally, the simulation example is given to verify the effectiveness of the proposed scheme. © 2023 Northeast University. All rights reserved.
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页码：2701 / 2706
页数：5
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