Abstract
In this paper, the adaptive full-state constraints bipartite consensus tracking problem for coopetition flexible joint multi-manipulator systems with finite-time convergence is investigated. Based on the finite-time convergent method, the command filtered backstepping technique is introduced to ensure the excellent convergence performance without the influence of the repeated differential problem which is called explosion of complexity, and the error compensation mechanism is proposed to reduce the error caused by the filtering progress. Furthermore, by using the barrier Lyapunov functions, the state of the system and error compensation signals are proved to be constrained in their respective expected ranges. It is worth mentioning that the flexible joint multi manipulator system is in the mode of coopetition. Finally, the practicability of the proposed algorithm is exhibited in the simulation.
Highlights
I N the application of practical engineer, the trajectory tracking control method of robotic manipulator has always been an enduring theme, since it can involve many fields that cannot be solved by manpower
The summaries of the proposed research is shown as follow: 1) Compared with the studies for single-manipulator in [1]–[5] and the backstepping methods for multi-agent systems (MASs) in [10]–[18], we establish a command filtered backstepping (CFB) control law for flexible joint multi-manipulators system (FJMMS), so that the mature technology for MASs is applied to multi-manipulators
2) Compared with the performance of asymptotically convergent based on the traditional backstepping methods in [10]–[12], the dynamic surface control (DSC) methods in [13]–[15] and the CFB methods in [16]–[18], the finite-time convergent CFB algorithm is adopt in this paper to achieve the advantages of responding more accurate and faster, and the problem of explosion of complexity (EOC) and filtering error is solved proper
Summary
I N the application of practical engineer, the trajectory tracking control method of robotic manipulator has always been an enduring theme, since it can involve many fields that cannot be solved by manpower. In the practical physical systems, the engineers always pursue quick responding, precise tracking and strong antidisturbance To satisfy these requirements, the finite-time control method is applied widely [19]–[21]. The summaries of the proposed research is shown as follow: 1) Compared with the studies for single-manipulator in [1]–[5] and the backstepping methods for MASs in [10]–[18], we establish a CFB control law for FJMMS, so that the mature technology for MASs is applied to multi-manipulators. 2) Compared with the performance of asymptotically convergent based on the traditional backstepping methods in [10]–[12], the DSC methods in [13]–[15] and the CFB methods in [16]–[18], the finite-time convergent CFB algorithm is adopt in this paper to achieve the advantages of responding more accurate and faster, and the problem of EOC and filtering error is solved proper. The barrier Lyapunov function is applied to give the regions for the system states, so that the full-state constraint problem, which is better than the output constraint [5], [22] performance, has been further improved
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
