Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots
| Autor: | Achille Melingui, Roger Datouo, Joseph Jean Baptiste Mvogo Ahanda, Frédéric Biya-Motto, Bernard Essimbi Zobo |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov function
Scheme (programming language) Adaptive control Computer science General Mathematics Fuzzy logic Computer Science Applications Compensation (engineering) Reduction (complexity) symbols.namesake Control and Systems Engineering Control theory Backstepping symbols Robot computer Software computer.programming_language |
| Zdroj: | Robotica. 39:1081-1100 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574720000910 |
| Popis: | SUMMARYThe 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|