SUMMARYThe problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

中文翻译：

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柔性关节机器人的自适应模糊有限时间命令滤波反推控制

总结有限时间跟踪控制的问题n-link 柔性关节机器人机械手得到解决。提出了一种自适应模糊有限时间命令过滤反步控制方案，以解决以下问题：“项爆炸”问题，闭环系统的有限时间稳定，以及降低计算成本。为此，利用机器人机械手系统的固有特性，构建了新的虚拟自适应控制信号和新的有限时间误差补偿机制。基于李雅普诺夫理论，证明了闭环系统的有限时间稳定性。仿真研究表明了所提出方法的有效性。