Name
Title | ||
|---|---|---|
Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control Of Flexible-Joint Robots |
Abstract | ||
|---|---|---|
The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: "explosion of terms" problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1017/S0263574720000910 | ROBOTICA |
Keywords | DocType | Volume |
Adaptive backstepping control, Finite-time command-filtered control, Fuzzy logic system, Flexible-joint robot | Journal | 39 |
Issue | ISSN | Citations |
6 | 0263-5747 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Roger Datouo | 1 | 0 | 0.34 |
| Joseph Jean-Baptiste Mvogo Ahanda | 2 | 5 | 3.15 |
| Achille Melingui | 3 | 6 | 3.16 |
| Frédéric Biya-Motto | 4 | 0 | 0.34 |
| Bernard Essimbi Zobo | 5 | 0 | 1.01 |