摘要
针对一类单链路机械臂系统,研究预先给定跟踪精度的固定时间跟踪控制问题。通过引入一类切换函数,构造新的类李雅普诺夫函数,采用反推法设计一种固定时间控制方案。可以证明,所设计的控制器确保闭环系统里的所有信号都是固定时间稳定的,特别是跟踪误差在固定时间内收敛到预先给定的精度,且收敛时间与系统的初始状态无关。最后,通过仿真实验验证该设计方案的有效性。
In this paper,the fixed-time tracking control problem with predetermined tracking accuracy is studied for a class single-link robotic arm system.A new Lyapunov-like function is constructed by introducing a class of switching function,and a fixed time control scheme is designed by using backstepping control strategy.It can be proved that the designed controller ensures all signals in the closed-loop system are stable at a fixed time,especially that the tracking error converges to a predetermined accuracy at a fixed time,and the convergence time is independent of the initial state of the system.Finally,a simulation experiment is used to verify the effectiveness of the proposed scheme.
作者
杨亚东
吴健
YANG Yadong;WU Jian(College of Computer and Information, Anqing Normal University, Anqing 246133, China)
出处
《皖西学院学报》
2021年第5期40-44,49,共6页
Journal of West Anhui University
基金
国家自然科学基金项目(61603003)。
关键词
固定时间控制
预先给定跟踪精度
反推法
机械臂
fixed-time control
predetermined tracking accuracy
backstepping method
robotic arm
