Fixed-time Convergent Dual-loop Adaptive Control of Manipulator with State Constrained
For the practical engineering problems of bounded state,parameter perturbation and unpredictable tracking time in manipulator trajectory tracking control,a fixed time convergent double loop adaptive tracking control algorithm was proposed.The algorithm can predicted the trajectory tracking time of the manipulator ac-cording to the control parameters,ensured that the trajectory tracking error changed within the preset bounded range,and had strong robustness to the internal parameter perturbation and external interference of the system.Numerical simulation results showed that the algorithm had simple structure,good control effect and good engi-neering application prospect.
robotmanipulatoradaptive controldouble loop tracking controlfixed time control
万方数据
维普
