Singular Perturbation Control of Flexible Manipulators Based on State Constraints
s:The unknown disturbance weakens the control effect of the flexible manipulator system,the derivation of joint position tracking in backstepping control design is complicated,and the excessive tracking error cause safety accidents.To solve these problems,a singular perturbation control method based on state constraints,command filtering and fuzzy self-adaptation is proposed to realize the joint position tracking of the flexible manipulator system.In this method,the flexible manipulator system is simplified by singular perturbation decoupling,and the log-type barrier Lyapunov function is used to constrain the state error of the rigid subsystem.Command filtering and fuzzy self-adaptation are introduced to reduce the computational complexity of control design and solve the problem that the control accuracy is affected by nonlinear disturbance.The simulation results show that the proposed method can effectively solve the problem that the disturbance reduces the control precision,has a good tracking effect,and can ensure the state quantity of the rigid subsystem is constrained within the specified range.
万方数据
维普
