Fixed-time self-triggered fuzzy adaptive control of N-link robotic manipulators

IF 3.2 1区数学 Q2 COMPUTER SCIENCE, THEORY & METHODS

Fuzzy Sets and Systems Pub Date : 2024-09-27 DOI:10.1016/j.fss.2024.109134

引用次数: 0

Abstract

This paper studies the fixed-time fuzzy adaptive self-triggered control of n-link robotic manipulators. To achieve fixed-time stability, a fuzzy adaptive fixed-time control algorithm is proposed by reconstructing the self-triggered controller and using the singularity-free function, which avoids the singularity problem and obtains fixed-time stability. Meanwhile, the self-triggered mechanism reduces the communication resources between the actuator and the controller, improving the system's transmission efficiency. Through the above thoughts, a kind of fixed-time fuzzy adaptive controller based on the self-triggered mechanism is designed, which guarantees that the tracking error of each joint converges to the prescribed range within a fixed time. Finally, the effectiveness of the proposed algorithm is verified by a simulation example of the two-link robotic manipulator.

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N 连杆机器人机械手的固定时间自触发模糊自适应控制

本文研究了 n 连杆机械手的固定时间模糊自适应自触发控制。为了实现定时稳定性，本文提出了一种模糊自适应定时控制算法，通过重构自触发控制器并使用无奇异性函数，避免了奇异性问题，获得了定时稳定性。同时，自触发机制减少了执行器与控制器之间的通信资源，提高了系统的传输效率。通过以上思考，设计出了一种基于自触发机制的定时模糊自适应控制器，它能保证各关节的跟踪误差在固定时间内收敛到规定范围。最后，通过双连杆机械手的仿真实例验证了所提算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Fuzzy Sets and Systems 数学-计算机：理论方法

CiteScore

6.50

自引率

17.90%

发文量

321

审稿时长

6.1 months

期刊介绍： Since its launching in 1978, the journal Fuzzy Sets and Systems has been devoted to the international advancement of the theory and application of fuzzy sets and systems. The theory of fuzzy sets now encompasses a well organized corpus of basic notions including (and not restricted to) aggregation operations, a generalized theory of relations, specific measures of information content, a calculus of fuzzy numbers. Fuzzy sets are also the cornerstone of a non-additive uncertainty theory, namely possibility theory, and of a versatile tool for both linguistic and numerical modeling: fuzzy rule-based systems. Numerous works now combine fuzzy concepts with other scientific disciplines as well as modern technologies. In mathematics fuzzy sets have triggered new research topics in connection with category theory, topology, algebra, analysis. Fuzzy sets are also part of a recent trend in the study of generalized measures and integrals, and are combined with statistical methods. Furthermore, fuzzy sets have strong logical underpinnings in the tradition of many-valued logics.