Adaptive Fuzzy Finite-Time Command Filtering Control for Flexible-Joint Robot Systems Against Multiple Actuator Constraints

摘要

This brief focuses on the issue of fuzzy finite-time position tracking control for single-link flexible-joint robotic systems subject to multiple actuator constraints. At first, fuzzy logic systems are invoked to estimate completely unknown nonlinear functions, which can appropriately overcome heavy calculations. Next, the inherent computational complexity problem is eliminated via adopting command filter technology and the correlative error compensation mechanism is exploited to mitigate the influence of the errors brought by the filter. Further, the developed controller not only assures the semi-global finite-time stable of the controlled system, but also makes the tracking error enter a small region around the origin within fast finite time. The significance and potential of the presented control technique can be testified through simulation results.