Neuro-Adaptive-Based Fixed-Time Composite Learning Control for Manipulators With Given Transient Performance
针对机械臂位置误差受限问题，提出一种结合复合学习的自适应神经网络控制方法，在无需初始条件的情况下实现稳态和瞬态性能，并保证信号在固定时间内收敛。
This article investigates an adaptive neural network (NN) control technique with fixed-time tracking capabilities, employing composite learning, for manipulators under constrained position error. The first step involves integrating the composite learning method into the NN to address the dynamic uncertainties that inevitably arise in manipulators. A composite adaptive updating law of NN weights is formulated, requiring adherence solely to the relaxed interval excitation (IE) conditions. In addition, for the output error, instead of knowing the initial conditions, this article integrates the error transfer function and asymmetric barrier function to achieve the specific performance for position error in both steady and transient states. Furthermore, the fixed-time control methodology and Lyapunov stability criterion are synergistically employed in order to guarantee the convergence of all signals in the manipulators to a compact neighborhood around the origin within a fixed-time. Finally, numerical simulation and experiments with the Baxter robot results both determine the capability of the NN composite learning technique and fixed-time control strategy.