Fixed-Time Fuzzy Control of Uncertain Robots With Guaranteed Transient Performance
Chengzhi Zhu, Chenguang Yang, Yiming Jiang, Hui Zhang
Abstract
In this article, an adaptive fixed-time fuzzy control scheme is proposed for an uncertain robot manipulator with user-defined performance. A novel symmetrical barrier Lyapunov function is designed based on the error conversion mechanism and the performance function such that the tracking errors will not violate the prescribed output constraints. A novel adaptive law is constructed and incorporated into the fixed-time controller design such that all the closed-loop signals can be bounded and achieve practical fixed-time convergence regardless of the initial conditions. Finally, the feasibility and superiority of the proposed scheme are demonstrated based on simulation and experimental studies using a Baxter robot.