Command-filtered backstepping control with error compensation for flexible joint manipulator

被引：1

作者：

Li P.-F. ^{[1
,2
]}

Zhang Y.-H. ^{[2
]}

Zhang L. ^{[1
]}

Wang X.-H. ^{[1
]}

Wang W.-J. ^{[1
]}

机构：

[1] School of Electronic and Information, Xi'an Polytechnic University, Xi'an, 710048, Shaanxi

[2] Cooperative Innovational Center for Technical Textiles for Shaanxi Province, Xi'an Polytechnic University, Xi'an, 710048, Shaanxi

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Backstepping control; Command filtering; Filtering error compensation; Flexible-joint manipulator;

D O I：

10.7641/CTA.2020.90872

中图分类号：

学科分类号：

摘要：

Aiming at the problem that the flexible joint manipulator is subjected to vibration during the movement, which makes the control accuracy of force and position difficult to be guaranteed, a modified command filtering backstepping control strategy with error compensation is proposed for flexible joint manipulator. Firstly, the second-order command filter is adopted to derive the virtual control and its derivative. Thus the problem of "explosion of complexity" caused by recursive calculation of the partial derivatives of virtual control inputs is avoided. Secondly, in order to reduce the filtering error caused by adopting command filter, an error compensation mechanism is designed and the stability of the tracking error closed-loop system is verified based on Lyapunov stability theory. Finally, simulation results on a single-link flexible manipulator show that the tracking accuracy is increased by 12.7% and the filtering error is obviously reduced, which proves the effectiveness of the proposed method. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.

引用

页码：1693 / 1700

页数：7

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