反推
控制理论(社会学)
补偿(心理学)
李雅普诺夫函数
滤波器(信号处理)
计算机科学
理论(学习稳定性)
机器人
鲁棒控制
控制工程
跟踪误差
功能(生物学)
控制(管理)
控制系统
工程类
自适应控制
非线性系统
人工智能
电气工程
量子力学
机器学习
进化生物学
计算机视觉
生物
心理学
物理
精神分析
作者
Yang Zhang,Yanqiang Lei,T. Zhang,Rui Song,Yibin Li,Fuxin Du
出处
期刊:IEEE Transactions on Instrumentation and Measurement
[Institute of Electrical and Electronics Engineers]
日期:2023-01-01
卷期号:72: 1-13
标识
DOI:10.1109/tim.2023.3306514
摘要
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 disturbance observers (GPIOs). The contributions are threefold. Firstly, a prescribed performance function (PPF), compared with that of the previous schemes, frees the assumption that the initial value of tracking errors within a predetermined region and thus is global, which brings dynamic response and steady-state precision benefits. 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. Thirdly, a second-order command filter and a filter error compensation method 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. Simulation and experiments are performed to validate the feasibility and fine performance of the recommended control strategy.
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