Abstract
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.”
NETL
NSTL
Wiley