Composite Learning Fixed-Time Control for Nonlinear Servo Systems With State Constraints and Unknown Dynamics

摘要

Robot systems, due to their unique flexibility and economy, are widely used in modern industry and intelligent manufacturing. The parameters of the system are unknown, and traditional parameter estimation methods are difficult to achieve fixed time convergence, which leads to extremely position tracking control problem. In addition, the transient and steady-state performance of the robot system is difficult to specify in advance. In this article, a novel composite learning fixed-time (FxT) control strategy is proposed for the robotic systems to deal with these issues. The funnel control (FC) is utilized to transform the original error system into a new error dynamics with transient performance constraints. The two-phase nonsingular FxT sliding mode surface is constructed to avoid the singularity problem. Then, the filter operation is introduced to obtain the expression of parameter estimation error and is used to design the composite learning law. To achieve parameter estimation, a FxT composite learning law based on online historical data and regression extension is proposed, where the interval excitation (IE) is considered in the adaptive law. Finally, the designed adaption is incorporated into the nonsingular FxT sliding mode control to achieve tracking control. Moreover, the comparison of three different controllers is made to demonstrate the benefits of the developed control strategy.