南京航空航天大学学报（英文版）2023，Vol.40Issue(3)：336-353,18.DOI:10.16356/j.1005-1120.2023.03.009
基于未知状态估计器和改进跟踪微分器的柔性关节预设性能反演控制
Prescribed Performance Backstepping Control of Flexible Joint Based on Unknown State Estimator and Improved Tracking Differentiator
摘要
Abstract
In order to solve the problem of increasing tracking error of flexible joint system caused by model uncertainty and external unknown disturbance,a prescribed performance backstepping control method based on unknown state estimator and tracking differentiator is proposed.An unknown state estimator based on low-pass filter is designed,which can estimate the lumped disturbance only depending on the nominal value of the model.A novel finite-time convergence prescribed performance function is constructed.Based on this function,a backstepping controller is designed to ensure that all signals in the closed-loop system are bounded,and the joint tracking error converges to any given small area within the given time.To avoid the differential explosion of the backstepping controller,a tracking differentiator based on the improved Sigmoid function is designed to estimate the differential signal of virtual control law.The simulation results show that the proposed method can guarantee the joint tracking error converges to any given range within the finite time under the disturbance of unmodeled dynamics and unknown input,and can effectively improve the transient and steady-state performance of flexible joints.关键词
柔性关节/未知状态估计器/跟踪微分器/预设性能控制/反演控制Key words
flexible joint/unknown state estimator/tracking differentiator/prescribed performance control/backstepping control分类
信息技术与安全科学引用本文复制引用
宋传明,杜钦君,庞浩,李存贺,焦提操..基于未知状态估计器和改进跟踪微分器的柔性关节预设性能反演控制[J].南京航空航天大学学报（英文版）,2023,40(3):336-353,18.基金项目
This work was supported by the Na-tional Natural Science Foundation of China(No.62076152),the National Natural Science Foundation of China(No.62073200),the Natural Science Foundation of Shandong Province(No.ZR2020MF096),and funded by Beijing Ad-vanced Innovation Center for Intelligent Robots and Systems. （No.62076152）
