This paper investigates the problem of prescribed performance bipartite consensus tracking control of a class of human-in-the-loop multi-manipulator systems with communication topology represented by a signed direc-ted graph.In order to converge to a prescribed accuracy within a prescribed time,an observer-based prescribed per-formance control strategy is proposed.First,a prescribed-time and prescribed-accuracy observer is designed to es-timate the leader's output information.Meanwhile,the bipartite consensus of observer outputs is achieved through cooperation/competition information exchange.Notably,the designed observer does not require inputs and higher-order derivatives of outputs of the leader manipulator.In addition,an event-triggered mechanism without Zeno be-havior is adopted to reduce the communication burden among different manipulators.Second,the constrained out-put tracking problem for manipulator systems is transformed into an unconstrained stability problem for error sys-tems by using backstepping and error transformation techniques.Subsequently,an output regulation controller for manipulator systems is designed based on observer outputs.It is worth mentioning that the proposed control strategy does not necessitate prior knowledge of the system's initial states and avoids the issue of infinite control gains at prescribed time,thereby enhancing the system's reliability.Finally,simulation results demonstrate the feasibility and superiority of the proposed control strategy.
关键词
多机械臂系统/二分一致性/预设时间和精度/人在环控制
Key words
Multi-manipulator systems/bipartite consensus/prescribed-time and prescribed-accuracy/human-in-the-loop control
维普
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