Adaptive Finite-Time Containment Control of Uncertain Multiple Manipulator Systems

This article is concerned with the containment control of multiple manipulators with uncertain parameters. A novel distributed adaptive backstepping strategy is given in the finite-time control framework. The finite-time command filters (FTCFs) used in the strategy can avoid the explosion of complex...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2022-01, Vol.52 (1), p.556-567
Main Authors: Zhao, Lin, Yu, Jinpeng, Wang, Qing-Guo
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive systems
Backstepping
Computer Simulation
Containment
containment control
Convergence
Electronic countermeasures
Error compensation
Feedback
finite-time control
manipulator systems
Manipulators
Neural Networks, Computer
Nonlinear Dynamics
Parameter uncertainty
Protocols
Robot arms
Synchronization
Tracking errors
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Summary:This article is concerned with the containment control of multiple manipulators with uncertain parameters. A novel distributed adaptive backstepping strategy is given in the finite-time control framework. The finite-time command filters (FTCFs) used in the strategy can avoid the explosion of complexity problem for conventional backstepping. To further improve the control performance, the filtering errors caused by the used FTCFs are removed by using the error compensation mechanism (ECM). The proposed virtual control signal, the control torque, and the adaptive updating law can guarantee the set tracking errors converge to an adjustable neighborhood of the origin in finite time in the presence of uncertain parameters. Because the virtual control signal and ECM only use the local information, the established method is completely distributed. Two simulation examples are given to show the effectiveness of the proposed scheme.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2020.2981090