反推
控制理论(社会学)
模糊逻辑
李雅普诺夫函数
计算机科学
非线性系统
瞬态(计算机编程)
跟踪误差
Lyapunov稳定性
控制工程
控制器(灌溉)
控制(管理)
自适应控制
工程类
人工智能
物理
操作系统
生物
量子力学
农学
作者
Hui Ma,Qi Zhou,Hongyi Li,Renquan Lu
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2021-08-16
卷期号:52 (12): 12905-12915
被引量:147
标识
DOI:10.1109/tcyb.2021.3091531
摘要
An adaptive fuzzy control strategy is proposed for a single-link flexible-joint robotic manipulator (SFRM) with prescribed performance, in which the unknown nonlinearity is identified by adopting the fuzzy-logic system. By designing a performance function, the transient performance of the control system is guaranteed. To stabilize the SFRM, a dynamic signal is applied to handle the unmodeled dynamics. To cut down the communication load of the channel, the event-triggered control law is developed based on the switching threshold strategy. The Lyapunov stability theory and backstepping technique are applied coordinately to design the control strategy. The semiglobally ultimately uniformly boundedness can be ensured for all signals in the closed-loop system. The designed control method can also guarantee that the tracking error can converge to a small neighborhood of zero within the prescribed performance boundaries. At the end of the article, two illustrative examples are shown to validate the designed event-triggered controller.
科研通智能强力驱动
Strongly Powered by AbleSci AI