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Robust Command-Filtered Control With Prescribed Performance for Flexible-Joint Robots
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DOI：10.1109/TIM.2023.3306514.png)
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摘要
En 中文
This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral observers (GPIOs). The contributions are threefold. First, a prescribed performance function (PPF), compared with those of the previous schemes, frees the assumption that the initial value of tracking errors within a predetermined region and thus is global, further enhances dynamic response and steady-state precision. Secondly, unlike most existing backstepping controllers that handle only internal uncertainties, the method presented here also considers time-varying external disturbances which may affect the tracking performance of the FJRs. Third, a second-order command filter and a filter error compensation system are designed to avoid the complexity explosion problem encountered in the traditional backstepping scheme. Analysis with the Lyapunov function proves the asymptotical stability of the closed-loop system. Simulations and experiments are performed to validate the feasibility and fine performance of the recommended control strategy.
Keyword:
Command-filtered control
disturbance observer
flexible-joint robot (FJR)
mismatched disturbance
prescribed performance
期刊
IF:
5.9
论文数:
2.0W
被引数:
5.8W
机构
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