Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints
Liaoxue Liu,
Xiutao Gu,
Lu Wang
et al.
Abstract:To achieve predefined‐time trajectory tracking control of a flexible‐joint space robot(FJSR) with actuator constraints, a nonsingular predefined‐time dynamic surface control scheme is developed. The input saturation caused by actuator constraints is addressed via the designed predefined‐time anti‐saturation compensator. On this basis, two different control laws are designed for such high‐order nonlinear systems by utilizing the backstepping technique, and a novel nonlinear filter is constructed to filter the v… Show more
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