Fixed time impedance control for uncertain manipulator systems with input saturation
A fixed-time fuzzy adaptive impedance control method is proposed to solve the problem of force/position hybrid control for manipulator systems.Firstly,the unmodeled dynamics of the manipulator system are processed by combining the adaptive fuzzy and fixed time backstepping method.Then,the virtual control function is approximated effectively by the fixed-time command filter,and the error compensation mechanism is introduced to eliminate the filtering error.At the same time,the fixed time anti-saturator is designed to eliminate the influence of saturation on the system performance.The stability analysis shows that all signals of the closed loop system are fixed time bounded.Finally,the effectiveness of the proposed control strategy is verified by simulation.
input saturationrobotic manipulatorfixed-time stabilityimpedance controlfuzzy adaptive control
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