Command Filtering-Based Adaptive Fuzzy Control of Flexible-Joint Robots With Time-Varying Full-State Constraints

被引:10
|
作者
Zhu, Yu [1 ]
Liu, Jiapeng [1 ]
Yu, Jinpeng [1 ]
Wang, Qing-Guo [2 ,3 ]
机构
[1] Qingdao Univ, Coll Automat, Qingdao 266071, Peoples R China
[2] Beijing Normal Univ, Inst Artificial Intelligence & Future Networks, Zhuhai 519085, Peoples R China
[3] Beijing Normal Univ Hong Kong Baptist Univ United, Guangdong Key Lab AI & Multimodal Data Proc, Zhuhai 519087, Peoples R China
基金
中国国家自然科学基金;
关键词
Adaptive fuzzy; flexible-joint robot; time-varying constraints; command filtered control; FEEDBACK NONLINEAR-SYSTEMS; NEURAL-CONTROL; MANIPULATORS; TRACKING;
D O I
10.1109/TCSII.2023.3295840
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This brief is concerned with trajectory tracking control for n-link flexible-joint robots (FJR) with time-varying full-state constraints and uncertain dynamics. The barrier Lyapunov functions are constructed to avoid the violation of time-varying constraints. The fuzzy logic systems are used to deal with unknown nonlinearities in FJR systems. The "explosion of complexity" problem in the traditional backstepping method is overcomed by introducing command filtered control with error compensation, and an adaptive fuzzy command filtered control scheme based on time-varying barrier Lyapunov function is designed. The stability of the closed-loop system is analyzed using Lyapunov theory. Simulation results show that the proposed method can guarantee the full-state constraints and position tracking accuracy of the system.
引用
收藏
页码:682 / 686
页数:5
相关论文
共 50 条
  • [1] Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints
    Sun, Wei
    Su, Shun-Feng
    Xia, Jianwei
    Van-Truong Nguyen
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2019, 49 (11): : 2201 - 2209
  • [2] Adaptive Fuzzy Tracking Control of Flexible-Joint Robots Based on Command Filtering
    Ling, Song
    Wang, Huanqing
    Liu, Peter X.
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (05) : 4046 - 4055
  • [3] Fuzzy Observer-Based Command Filtered Adaptive Control of Flexible Joint Robots With Time-Varying Output Constraints
    Su, Junhao
    Lam, Hak-Keung
    Liu, Jiapeng
    Yu, Jinpeng
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2024, 71 (09) : 4251 - 4255
  • [4] Full state constraints and command filtering-based adaptive fuzzy control for permanent magnet synchronous motor stochastic systems
    Jiang, Qi
    Liu, Jiapeng
    Yu, Jinpeng
    Lin, Chong
    INFORMATION SCIENCES, 2021, 567 : 298 - 311
  • [5] Adaptive Neural Networks Control of Flexible-Joint Robots with Full-state Constraint: Dynamic Nonlinear Mapping Technique
    Yang, Wenjing
    Du, Guixiang
    Guo, Xiaoxiao
    Bu, Keqing
    Xia, Jianwei
    2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 680 - 685
  • [6] Decentralized Direct Adaptive Fuzzy Control for Flexible-Joint Robots
    Fateh, Mohammad Mehdi
    Souzanchikashani, Mahdi
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2013, 15 (04): : 97 - 105
  • [7] Adaptive Fuzzy Finite-Time Command Filtering Control for Flexible-Joint Robot Systems Against Multiple Actuator Constraints
    Kang, Shijia
    Liu, Peter Xiaoping
    Wang, Huanqing
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2023, 70 (12) : 4554 - 4558
  • [8] Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots
    Datouo, Roger
    Mvogo Ahanda, Joseph Jean-Baptiste
    Melingui, Achille
    Biya-Motto, Frederic
    Essimbi Zobo, Bernard
    ROBOTICA, 2021, 39 (06) : 1081 - 1100
  • [9] Adaptive Fixed-Time Fuzzy Control for Uncertain Nonlinear Systems with Asymmetric Time-Varying Full-State Constraints
    Liu, Ruixia
    Liu, Ming
    Shi, Yan
    Qu, Junsuo
    INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2023, 25 (04) : 1597 - 1611
  • [10] Adaptive fuzzy control for high-order nonlinear systems with time-varying full-state constraints and input saturation
    Liu, Jianqin
    Jiang, Yan
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2023, 37 (03) : 710 - 725