This paper investigates the issue of finite-time tracking control for flexible-joint robots. In the design scheme, the unknown continuous function is identified by a fuzzy system. By introducing the command filter technique, “explosion of complexity” problem which arises from repeated differentiation of virtual controllers is avoided. Meanwhile, errors resulting from the first-order filters can be reduced with the introduced compensation signal. Besides, the proposed method ensures that the tracking performance could be achieved within a limited time. Eventually, the simulation is given to demonstrate the effectiveness of the proposed scheme.

中文翻译：

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基于指令滤波器设计的柔性关节机器人自适应模糊实用跟踪控制

本文研究了柔性关节机器人的有限时间跟踪控制问题。在设计方案中，未知连续函数通过模糊系统进行识别。通过引入命令过滤技术，避免了由于虚拟控制器的重复分化而引起的“复杂度爆炸”问题。同时，可以通过引入的补偿信号减少由一阶滤波器引起的误差。此外，所提出的方法确保可以在有限的时间内实现跟踪性能。最后通过仿真验证了所提出方案的有效性。