Adaptive Fixed-time Fuzzy Tracking Control of Uncertain Robot

Abstract

We propose a novel fixed-time fuzzy control strategy to achieve the trajectory tracking of the robot systems with uncertainties in this article. The tracking errors of the system can be convergent to a small area around zero with fixed-time convergence rate, combining with the fuzzy logic system and the backstepping technique. Besides, the boundedness of all the closed-loop system signals can be proved under the proposed controller. The superiority performance of the proposed control strategy has been shown by the simulation results.