TY - GEN
T1 - Prescribed-Time Trajectory Tracking Controller for Flexible-Joint Manipulators
T2 - 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
AU - Qiu, Hanbin
AU - Zhang, Jiahao
AU - Zhang, Ying
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - To address parameter uncertainties and unknown external disturbances in flexible-joint manipulator systems, a prescribed-time trajectory tracking control strategy based on the backstepping design of high-order fully actuated (HOFA) system is proposed in this dissertation, aiming to simplify the control design process. The strategy incorporates a prescribed error trajectory and performance constraints to regulate angular errors, ensuring their convergence at the specified time. The simulation results demonstrate that the proposed strategy enables customizable convergence time and error precision while providing accurate control over the convergence time.
AB - To address parameter uncertainties and unknown external disturbances in flexible-joint manipulator systems, a prescribed-time trajectory tracking control strategy based on the backstepping design of high-order fully actuated (HOFA) system is proposed in this dissertation, aiming to simplify the control design process. The strategy incorporates a prescribed error trajectory and performance constraints to regulate angular errors, ensuring their convergence at the specified time. The simulation results demonstrate that the proposed strategy enables customizable convergence time and error precision while providing accurate control over the convergence time.
KW - Flexible-joint Manipulator
KW - High-order Fully Actuated System
KW - Prescribed-time Trajectory Tracking Control
UR - https://www.scopus.com/pages/publications/105017749936
U2 - 10.1109/FASTA65681.2025.11138998
DO - 10.1109/FASTA65681.2025.11138998
M3 - 会议稿件
AN - SCOPUS:105017749936
T3 - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
SP - 1981
EP - 1986
BT - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 4 July 2025 through 6 July 2025
ER -