Research On Finite Time Bounded-H_? Trajectory Tracking Control Of Manipulator Systems

Manipulator is a nonlinear system with highly complex time-varying coupling dynamic characteristics,and there are often various uncertainties and external disturbances.In addition,with the increasing requirements for the control of the manipulator,for example,in some special environments,the manipulator needs to work in a limited space;the manipulator system needs to achieve the control objectives in a limited time;when the manipulator is controlled by wireless network,it needs to carry out quantitative processing in order to facilitate the control,so it brings some difficulties to the control algorithm of the manipulator.Based on the above considerations,and to further improve the control accuracy of the manipulator,this paper studies two finite time control problems of a kind of manipulator.The main contents and innovations are as follows.1.The adaptive finite-time H? tracking control problem is considered for a motor-driven single-link manipulator system with output constraint in this paper.A new concept on finite-time bounded-H? performance is proposed.And a design method for adaptive neural finite-time bounded-H? quantization tracking controller of the manipulator system with output constraint is given by combining barrier Lyapunov function,neural network adaptive technique,finite-time control theory with H? control theory.The singularity problem emerged in many references with regard to finite time control is avoided when the controller is designed.The purpose of finite-time bounded-H? trajectory tracking control for the manipulator system is achieved.The designed controller can guarantee that the tracking error of the system is constrained by predefined boundary,and all the system states can converge into the neighborhood of the equilibrium state within a finite time.The influence of external disturbances can be attenuated by H? performance at the same time.The simulation results verify the effectiveness and superiority of the designed controller.2.For the same manipulator system,considering the disturbance torque of the external environment to the end of the manipulator and the disturbance of the external environment to the voltage.A fast finite time bounded-H? quantization control method is proposed by transforming the model into a third-order non-strict feedback nonlinear system,combining with the practical fast finite time control theory,H?control theory and command filtering technology.In addition,the new relationship between quantitative input and control signal is established,which overcomes the main technical difficulties brought by segmented quantized input.Using the technique of command filtering,the singularity problem in practical fast finite time control design is effectively avoided.The difficulty of non-strict feedback in control design is solved by neural network,which makes the design process more reasonable.The designed controller ensures that the system is fast and limited time stable,and all the signals in the closed-loop system are semi globally uniformly bounded.It can restrain the influence of external disturbance on the system at the same time.The simulation result verifies the feasibility of the designed controller.