首页|New Robotics Findings Reported from Nanjing University of Science and Technology (Nonsingular Predefined-time Dynamic Surface Control of a Flexible-joint Space Robot With Actuator Constraints)
New Robotics Findings Reported from Nanjing University of Science and Technology (Nonsingular Predefined-time Dynamic Surface Control of a Flexible-joint Space Robot With Actuator Constraints)
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NETL
NSTL
Wiley
New research on Robotics is the subject of a report. According to news reporting originating in Nanjing, People’s Republic of China, by NewsRx journalists, research stated, “To achieve predefined-time trajectory tracking control of a flexible-joint space robot(FJSR) with actuator constraints, a nonsingular predefined-time dynamic surface control scheme is developed. The input saturation caused by actuator constraints is addressed via the designed predefined-time anti-saturation compensator.” Financial supporters for this research include Jiangsu Funding Program for Excellent Postdoctoral Talent, National Natural Science Foundation of China (NSFC). The news reporters obtained a quote from the research from the Nanjing University of Science and Technology, “On this basis, two different control laws are designed for such high-order nonlinear systems by utilizing the backstepping technique, and a novel nonlinear filter is constructed to filter the virtual control signals, thus avoiding the ‘differential expansion’ phenomenon. Moreover, a singularity-free auxiliary function is designed to solve the singularity issue generated by the derivative of fractional power terms in the predefined-time control algorithm framework. The closed-loop system is proven to be semi-globally predefined-timely uniformly ultimately bounded (SGPTUUB) via constructing the suitable Lyapunov function. The difference and effectiveness of the two designed control laws are illustrated by the conducted simulations.”
NanjingPeople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsNanjing University of Science and Technology
NETL
NSTL
Wiley
