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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
ISSN/eISSN1549-7747
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
DOI10.1109/TCSII.2023.3295840
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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
被引频次:11[WOS]   [WOS记录]     [WOS相关记录]
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
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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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