Singularity-Free Fixed-Time Fuzzy Control for Robotic Systems With User-Defined Performance

In this article, the singularity-free adaptive fuzzy fixed-time control problem is studied for an uncertain n -link robotic system with the position tracking error constraint. The controlled robotic system can be described as a multiple-input-multiple-output system.To implement the user-defined perf...

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Published in:	IEEE transactions on fuzzy systems Vol. 29; no. 8; pp. 2388 - 2398
Main Authors:	Pan, Yingnan, Du, Peihao, Xue, Hong, Lam, Hak-Keung
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Adaptive fuzzy control Constraints Control stability Control systems Conversion error constraint fixed-time control Fuzzy control Fuzzy logic Jacobian matrices Liapunov functions Lyapunov methods Robot control robotic system Robotics Robots Singularities Tracking control Tracking errors Transient response user-defined performance
ISSN:	1063-6706, 1941-0034
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Abstract	In this article, the singularity-free adaptive fuzzy fixed-time control problem is studied for an uncertain n -link robotic system with the position tracking error constraint. The controlled robotic system can be described as a multiple-input-multiple-output system.To implement the user-defined performance, an improved error conversion mechanism based on performance functions is presented such that the converted error is limited to an interval greater than zero, and an appropriate barrier Lyapunov function (BLF) is constructed to avoid the breach of position tracking error constraint. The fuzzy approximator is utilized to estimate the unknown functions. The significance and challenges of this article are to establish a new error conversion mechanism and design corresponding BLF that can be integrated into fixed-time control design to present a singularity-free adaptive fuzzy fixed-time control scheme. Benefits of the proposed adaptive fixed-time controller in comparison to the current approaches are that it cannot cause the singularity issue appearing in backstepping-based fixed-time control design and ensures quick transient response. Combining with Lyapunov stability theory, the boundedness of the closed-loop signals is ensured, and the position tracking error can be constrained in the user-defined performance boundaries. Finally, simulation results demonstrate the feasibility of the proposed control strategy.
AbstractList	In this article, the singularity-free adaptive fuzzy fixed-time control problem is studied for an uncertain n -link robotic system with the position tracking error constraint. The controlled robotic system can be described as a multiple-input-multiple-output system.To implement the user-defined performance, an improved error conversion mechanism based on performance functions is presented such that the converted error is limited to an interval greater than zero, and an appropriate barrier Lyapunov function (BLF) is constructed to avoid the breach of position tracking error constraint. The fuzzy approximator is utilized to estimate the unknown functions. The significance and challenges of this article are to establish a new error conversion mechanism and design corresponding BLF that can be integrated into fixed-time control design to present a singularity-free adaptive fuzzy fixed-time control scheme. Benefits of the proposed adaptive fixed-time controller in comparison to the current approaches are that it cannot cause the singularity issue appearing in backstepping-based fixed-time control design and ensures quick transient response. Combining with Lyapunov stability theory, the boundedness of the closed-loop signals is ensured, and the position tracking error can be constrained in the user-defined performance boundaries. Finally, simulation results demonstrate the feasibility of the proposed control strategy.
Author	Pan, Yingnan Lam, Hak-Keung Xue, Hong Du, Peihao
Author_xml	– sequence: 1 givenname: Yingnan orcidid: 0000-0002-7603-4333 surname: Pan fullname: Pan, Yingnan email: panyingnan0803@gmail.com organization: College of Engineering, Bohai University, Jinzhou, China – sequence: 2 givenname: Peihao orcidid: 0000-0001-5570-6762 surname: Du fullname: Du, Peihao email: peihaodu2017@163.com organization: School of Mathematics and Physics, Bohai University, Jinzhou, China – sequence: 3 givenname: Hong surname: Xue fullname: Xue, Hong email: xuehong19870101@163.com organization: School of Mathematics and Physics, Bohai University, Jinzhou, China – sequence: 4 givenname: Hak-Keung orcidid: 0000-0002-6572-7265 surname: Lam fullname: Lam, Hak-Keung email: hak-keung.lam@kcl.ac.uk organization: Department of Engineering, King's College London,, London, U.K
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Snippet	In this article, the singularity-free adaptive fuzzy fixed-time control problem is studied for an uncertain n -link robotic system with the position tracking...
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SubjectTerms	Adaptive control Adaptive fuzzy control Constraints Control stability Control systems Conversion error constraint fixed-time control Fuzzy control Fuzzy logic Jacobian matrices Liapunov functions Lyapunov methods Robot control robotic system Robotics Robots Singularities Tracking control Tracking errors Transient response user-defined performance
Title	Singularity-Free Fixed-Time Fuzzy Control for Robotic Systems With User-Defined Performance
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