Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots
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SUMMARY 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.
2021 ◽
pp. 014233122110514
2020 ◽
Vol 42
(13)
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pp. 2382-2395
2012 ◽
Vol 134
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2013 ◽
Vol 136
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2005 ◽
Vol 128
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pp. 453-457
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2011 ◽
Vol 226
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pp. 204-214
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