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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Vydané v:IEEE transactions on fuzzy systems Ročník 29; číslo 8; s. 2388 - 2398
Hlavní autori: Pan, Yingnan, Du, Peihao, Xue, Hong, Lam, Hak-Keung
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York IEEE 01.08.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
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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Shrnutí: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.
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ISSN:1063-6706
1941-0034
DOI:10.1109/TFUZZ.2020.2999746