Adaptive Finite-Time Consensus Tracking Control for Coopetition Flexible Joint Multi-Manipulators With Full-State Constraints

IEEE Access

Binzhen Liu¹  Songfeng Pan¹ 

[1] School of Automation, Qingdao University, Qingdao, China;

关键词: Command filtered backstepping;    flexible joint multi-manipulator;    full-state constraints;    finite time convergence;    coopetition;   

DOI  :  10.1109/ACCESS.2022.3158972

来源: DOAJ

【 摘 要 】

In this paper, the adaptive full-state constraints bipartite consensus tracking problem for coopetition flexible joint multi-manipulator systems with finite-time convergence is investigated. Based on the finite-time convergent method, the command filtered backstepping technique is introduced to ensure the excellent convergence performance without the influence of the repeated differential problem which is called explosion of complexity, and the error compensation mechanism is proposed to reduce the error caused by the filtering progress. Furthermore, by using the barrier Lyapunov functions, the state of the system and error compensation signals are proved to be constrained in their respective expected ranges. It is worth mentioning that the flexible joint multi manipulator system is in the mode of coopetition. Finally, the practicability of the proposed algorithm is exhibited in the simulation.

【 授权许可】

Unknown