基于命令滤波反步法的机械臂系统固定时间自适应跟踪控制

Fixed-time Adaptive Tracking Control of Manipulator System Based on Command Filtering Backstepping Method

该文在命令滤波反步法的基础上,研究了具有未知齿隙的机械臂系统的固定时间自适应跟踪控制。在传统反步法中,由于虚拟信号在每一步反步过程中都需要微分,因此大大增加了系统的计算复杂度。该文中提出的算法采用了固定时间命令滤波器,用滤波器的输出来代替传统反步法中的虚拟信号的导数,并且使用误差补偿机制来抵消掉命令滤波器产生的误差。值得注意的是,固定时间控制的收敛时间是预先确定的,无需知道系统初始值的信息。最终结果表明,被控系统的跟踪误差在固定时间内到达原点附近的预期邻域。最后,通过一个Matlab仿真案例,验证了所提的固定时间控制策略的有效性。

Based on the command filtering backstepping method,this paper studies the fixed-time adaptive tracking control of manipulator system with unknown backlash.In the traditional backstepping method,because the virtual signal needs differentiation in each step of backstepping,the computational complexity of the system is greatly increased.The algorithm proposed in this paper uses a fixed time command filter,uses the output of the filter to replace the derivative of the virtual signal in the traditional backstepping,and uses an error compensation mechanism to offset the error generated by the command filter.It is worth noting that the convergence time of fixed-time control is predetermined,and there is no need to know the information of the initial value of the system.The final results show that the tracking error of the controlled system reaches the expected neighborhood near the origin within a fixed time.Finally,the effectiveness of the proposed fixed time control strategy is verified by a Matlab simulation case.