Finite-Time Prescribed Performance Control for Flexible Joint Manipulator with Input Saturation
Aiming at the flexible joint manipulator system with input saturation,model uncertainty and external disturbance,an active disturbance rejection preset finite time tracking control method is proposed.This method limits the tracking error of the manipulator system to a predetermined boundary by introducing a performance function,and approximates the input saturation function by a first-order dynamic system.The unknown function of uncertainty is estimated by the extended state observer,and the virtual control signal is obtained by the tracking differentiator to avoid differential explosion.The controller design ensures that the tracking error of the manipulator system converges within a specified limited time,and all signals of the closed-loop system are uniformly bounded.The ADRC strategy is adopted to make the controller have strong anti-interference.The rationality of the control method is verified by MATLAB software simulation.
flexible manipulatorfinite time controlinput saturationprescribed performance
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