Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

被引：20

作者：

Datouo, Roger ^{[1
]}

Mvogo Ahanda, Joseph Jean-Baptiste ^{[2
]}

Melingui, Achille ^{[3
]}

Biya-Motto, Frederic ^{[1
]}

Essimbi Zobo, Bernard ^{[1
]}

机构：

[1] Univ Yaounde I, Lab Elect, Dept Phys, Fac Sci, POB 812, Yaounde, Cameroon

[2] Univ Bamenda, Elect & Power Engn, Dept Higher Tech Teachers Training Coll, POB 39, Bambili, Nw Region, Cameroon

[3] Univ Yaounde I, Elect & Telecommun Engn, Dept Ecole Natl Super Polytech, POB 8390, Yaounde, Cameroon

来源：

ROBOTICA | 2021年 / 39卷 / 06期

关键词：

Adaptive backstepping control; Finite-time command-filtered control; Fuzzy logic system; Flexible-joint robot; DYNAMIC SURFACE CONTROL; TRAJECTORY TRACKING CONTROL; PARALLEL MANIPULATOR; NONLINEAR-SYSTEMS; INDUCTION-MOTORS; DESIGN;

D O I：

10.1017/S0263574720000910

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: "explosion of terms" problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

引用

页码：1081 / 1100

页数：20

共 49 条

[1]

Ahanda J. J.-B. M., P IFAC INT C, P8208

[2] Robust adaptive command filtered control of a robotic manipulator with uncertain dynamic and joint space constraints [J].

Ahanda, Joseph Jean-Baptiste Mvogo ;

Mbede, Jean Bosco ;

Melingui, Achille ;

Zobo, Bernard Essimbi .

ROBOTICA, 2018, 36 (05) :767-786

[3] Robust adaptive control for robot manipulators: Support vector regression-based command filtered adaptive backstepping approach [J].

Ahanda, Joseph Jean-Baptiste Mvogo ;

Mbede, Jean Bosco ;

Melingui, Achille ;

Zobo, Bernard Essimbi .

ROBOTICA, 2018, 36 (04) :516-534

[4] Finite-time stability of continuous autonomous systems [J].

Bhat, SP ;

Bernstein, DS .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :751-766

[5] Neural Observer and Adaptive Neural Control Design for a Class of Nonlinear Systems [J].

Chen, Bing ;

Zhang, Huaguang ;

Liu, Xiaoping ;

Lin, Chong .

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2018, 29 (09) :4261-4271

[6] Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer [J].

Chen, Chao ;

Zhang, Chengrui ;

Hu, Tianliang ;

Ni, Hepeng ;

Chen, Qizhi .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2019, 16 (03)

[7] Finite-Time Trajectory Tracking Control for Rigid 3-DOF Manipulators With Disturbances [J].

Chen, Ziyang ;

Yang, Xiaohui ;

Zhang, Xiaolong ;

Liu, Peter X. .

IEEE ACCESS, 2018, 6 :45974-45982

[8] Command Filtered Backstepping [J].

Farrell, Jay A. ;

Polycarpou, Marios ;

Sharma, Manu ;

Dong, Wenjie .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2009, 54 (06) :1391-1395

[9] Advanced Motion Control for Next-Generation Industrial Applications [J].

Fujimoto, Yasutaka ;

Murakami, Toshiyuki ;

Oboe, Roberto .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (03) :1886-1888

[10] Finite-time control of robotic manipulators [J].

Galicki, Miroslaw .

AUTOMATICA, 2015, 51 :49-54

← 1 2 3 4 5 →