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

被引：19

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; INDUCTION-MOTORS; SYSTEMS; 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

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