发表状态 | 已发表Published |
题名 | Command Filtering-Based Adaptive Fuzzy Control of Flexible-Joint Robots with Time-Varying Full-State Constraints |
作者 | |
发表日期 | 2024-02-01 |
发表期刊 | IEEE Transactions on Circuits and Systems II: Express Briefs
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ISSN/eISSN | 1549-7747 |
卷号 | 71期号:2页码:682-686 |
摘要 | This brief is concerned with trajectory tracking control for $n$ -link flexible-joint robots (FJR) with time-varying full-state constraints and uncertain dynamics. The barrier Lyapunov functions are constructed to avoid the violation of time-varying constraints. The fuzzy logic systems are used to deal with unknown nonlinearities in FJR systems. The 'explosion of complexity' problem in the traditional backstepping method is overcomed by introducing command filtered control with error compensation, and an adaptive fuzzy command filtered control scheme based on time-varying barrier Lyapunov function is designed. The stability of the closed-loop system is analyzed using Lyapunov theory. Simulation results show that the proposed method can guarantee the full-state constraints and position tracking accuracy of the system. |
关键词 | Adaptive fuzzy command filtered control flexible-joint robot time-varying constraints |
DOI | 10.1109/TCSII.2023.3295840 |
URL | 查看来源 |
收录类别 | SCIE |
语种 | 英语English |
WOS研究方向 | Engineering |
WOS类目 | Engineering ; Electrical & Electronic |
WOS记录号 | WOS:001167527900075 |
Scopus入藏号 | 2-s2.0-85165243804 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | https://repository.uic.edu.cn/handle/39GCC9TT/11422 |
专题 | 理工科技学院 |
通讯作者 | Liu, Jiapeng |
作者单位 | 1.Qingdao University,College of Automation,Qingdao,266071,China 2.Institute of Artificial Intelligence and Future Networks,Beijing Normal University,Zhuhai,519085,China 3.Beijing Normal University-Hong Kong Baptist University United International College,Guangdong Key Laboratory of AI and Multi-Modal Data Processing,Zhuhai,519087,China |
推荐引用方式 GB/T 7714 | Zhu, Yu,Liu, Jiapeng,Yu, Jinpenget al. Command Filtering-Based Adaptive Fuzzy Control of Flexible-Joint Robots with Time-Varying Full-State Constraints[J]. IEEE Transactions on Circuits and Systems II: Express Briefs, 2024, 71(2): 682-686. |
APA | Zhu, Yu, Liu, Jiapeng, Yu, Jinpeng, & Wang, Qing Guo. (2024). Command Filtering-Based Adaptive Fuzzy Control of Flexible-Joint Robots with Time-Varying Full-State Constraints. IEEE Transactions on Circuits and Systems II: Express Briefs, 71(2), 682-686. |
MLA | Zhu, Yu,et al."Command Filtering-Based Adaptive Fuzzy Control of Flexible-Joint Robots with Time-Varying Full-State Constraints". IEEE Transactions on Circuits and Systems II: Express Briefs 71.2(2024): 682-686. |
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