Fixed-Time Fuzzy Control of Uncertain Robots With Guaranteed Transient Performance

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...

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Bibliographic Details
Published inIEEE transactions on fuzzy systems Vol. 31; no. 3; pp. 1041 - 1051
Main Authors Zhu, Chengzhi, Yang, Chenguang, Jiang, Yiming, Zhang, Hui
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Adaptive fuzzy control
Adaptive systems
Artificial neural networks
barrier Lyapunov function (BLF)
Closed loops
Control systems design
Convergence
fixed-time convergence
Fuzzy control
Fuzzy logic
Initial conditions
Liapunov functions
Robot arms
Robot control
robot manipulator
Robots
Tracking errors
Transient analysis
Transient performance
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Summary: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.
ISSN:1063-6706
1941-0034
DOI:10.1109/TFUZZ.2022.3194373