具有输入缓冲的机械臂预设定有限时间跟踪控制

doi:10.13229/j.cnki.jdxbgxb.20230331

Abstract

Abstract:

Facing the prescribed finite-time trajectory tracking control problem with input buffer for a linkage manipulator system，the backstepping method is used to design the prescribed finite-time trajectory tracking controller. A new prescribed finite-time performance function is proposed， which can more easily regulate control performance. With the help of this performance function， a constraint control law is designed for the tracking error， and a better transient performance than the existing prescribed finite-time performance function can be obtained under the same parameter conditions for the trajectory tracking process of the manipulator system. At the same time， a control input buffer function is designed， which solves both the overvoltage problem of control input caused by the overlarge position error of the manipulator and the problem that the manipulator system is difficult to start under heavy load. The simulation experiments verify the effectiveness and superiority of the proposed controller.

Key words: control engineering, buffer function, manipulator system, prescribed finite-time performance function, adaptive control, trajectory tracking control

CLC Number:

TP273

Peng SHEN,Xiao-hua LI,Hui LIU. Prescribed finite-time tracking control with input buffer for a manipulator system[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(1): 63-73.

Figures/Tables 6

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Prescribed finite-time tracking control with input buffer for a manipulator system

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