Command-Filtered Adaptive Fuzzy Finite-Time Tracking Control Algorithm for Flexible Robotic Manipulator: A Singularity-Free Approach
Xiaomei Wang, Ben Niu, Xudong Zhao, Guangdeng Zong, Tingting Cheng, Bin Li
Abstract
This article explores a novel singularity-free command-filtered adaptive fuzzy finite-time tracking control algorithm for the flexible robotic manipulator with dead-zone input. First, by considering the influence of the residual term in two cases, a novel practical finite-time stability criterion is presented, and the settling time is more accurately characterized, which is applied to the design of the flexible robotic manipulator. The unknown nonlinear function in the robotic manipulator is handled by employing an intelligent estimation technique based on fuzzy logic systems. Unlike the related finite-time work, a new adaptive command-filtered finite-time controller is constructed by fusing a piecewise continuous function in each step of the backstepping process, such that the singularity of the control signal of the finite-time results is completely circumvented. Further, the mathematical model of the dead zone is delicately reconstructed such that the dead-zone input can be rigorously designed using effective mathematical techniques. Finally, the robotic manipulator system demonstrates the validity of the designed finite-time algorithm.