Robust Command-Filtered Control with Prescribed Performance for Flexible-Joint Robots

This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral disturbance observers (GPIOs). The contributions are threefold. First...

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Veröffentlicht in:	IEEE transactions on instrumentation and measurement 2023-01, Vol.72, p.1-1
Hauptverfasser:	Zhang, Yang, Lei, Yanqiang, Zhang, Tichong, Song, Rui, Li, Yibin, Du, Fuxin
Format:	Artikel
Sprache:	eng
Schlagworte:	Backstepping Closed loops Command-filtered control Control methods disturbance observer Disturbances Dynamic response Error compensation Explosions Feedback control flexible-joint robot (FJR) Liapunov functions mismatched disturbance Nonlinear dynamical systems prescribed performance Proportional integral Robots Robust control Stability analysis Time-varying systems Tracking errors Trajectory Uncertainty
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