Adaptive Prescribed Performance Control of A Flexible-Joint Robotic Manipulator With Dynamic Uncertainties

• Published in: IEEE transactions on cybernetics Vol. 52; no. 12; pp. 12905 - 12915
• Main Authors: Ma, Hui, Zhou, Qi, Li, Hongyi, Lu, Renquan
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.12.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive fuzzy control; Adaptive systems; Control methods; Control systems; Control systems design; Control theory; event-triggered control; Feedback control; flexible-joint robot; Fuzzy control; Fuzzy logic; Manipulator dynamics; Manipulators; Nonlinear dynamical systems; prescribed performance; Robot arms; Robot kinematics; Robots; Tracking errors; Transient performance; Uncertainty; unmodeled dynamics

An adaptive fuzzy control strategy is proposed for a single-link flexible-joint robotic manipulator (SFRM) with prescribed performance, in which the unknown nonlinearity is identified by adopting the fuzzy-logic system. By designing a performance function, the transient performance of the control sy...