Fixed-Time Fuzzy Adaptive Control of Manipulator Systems Under Multiple Constraints: A Modified Dynamic Surface Control Approach
针对一类受随机扰动和多约束的单连杆机械臂系统，提出了一种固定时间模糊自适应跟踪控制方法，通过改进动态面控制和扩展随机固定时间稳定性准则，将稳态误差在固定时间内驱动至预设漏斗。
In this article, the fixed-time fuzzy adaptive tracking control problem is studied for a class of one-link manipulator systems with stochastic disturbances and multiple constraints. First, a modified dynamic surface control technique is proposed for the stochastic system, which provides a useful filtering solution to the fixed-time control of the stochastic nonlinear systems. Then, an extended stochastic fixed-time stability criterion is introduced to simplify the complex discussion process of stability analysis instead of existing fixed-time stability criteria. By using the unified barrier function, the constrained nonlinear system can be transformed into the nonconstrained nonlinear system. Moreover, a fuzzy adaptive controller is constructed with the funnel error transformation function, which improves the transient response of the system. The control objective of this article is that the steady-state error can be driven to the prespecified funnel in a fixed time based on the Lyapunov stability theorem and the extended stochastic fixed-time stability criterion. Finally, a simulation example is given to demonstrate the effectiveness of the proposed method.