Adaptive fuzzy practical tracking control for flexible-joint robots via command filter design

被引：8

作者：

Diao, Shuzhen ^{[1
]}

Sun, Wei ^{[1
]}

Yuan, Wenxing ^{[1
]}

机构：

[1] Liaocheng Univ, Sch Math Sci, Liaocheng 252000, Shandong, Peoples R China

来源：

MEASUREMENT & CONTROL | 2020年 / 53卷 / 5-6期

基金：

中国国家自然科学基金;

关键词：

Flexible-joint (FJ) robots; adaptive tracking control; command filter backstepping; finite-time control; DYNAMIC SURFACE CONTROL; OUTPUT-FEEDBACK; NONLINEAR-SYSTEMS; OBSERVER; MANIPULATORS;

D O I：

10.1177/0020294020909133

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the issue of finite-time tracking control for flexible-joint robots. In the design scheme, the unknown continuous function is identified by a fuzzy system. By introducing the command filter technique, "explosion of complexity" problem which arises from repeated differentiation of virtual controllers is avoided. Meanwhile, errors resulting from the first-order filters can be reduced with the introduced compensation signal. Besides, the proposed method ensures that the tracking performance could be achieved within a limited time. Eventually, the simulation is given to demonstrate the effectiveness of the proposed scheme.

引用

页码：814 / 823

页数：10

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