现代制造工程Issue(4)：45-51,7.DOI:10.16731/j.cnki.1671-3133.2026.04.006
数据驱动的机械臂固定时间复合自适应控制
Data-driven fixed-time composite adaptive control of manipulator
摘要
Abstract
The control problem of manipulator with uncertain parameters was addressed by developing a data-driven fixed-time composite adaptive control method.The proposed method achieved finite-time convergence of parameter estimation errors under relaxed excitation conditions while ensuring fixed-time stability of closed-loop systems.A regression filtering technique was firstly used to construct equivalent representations of unknown parameters.To relax Persistent Excitation(PE),a novel finite-time com-posite parameter estimation law was designed.The integration of the proposed parameter estimation law with fixed-time control laws was validated through Lyapunov stability analysis.Numerical simulations confirmed the method's capability to estimate un-known parameters under relaxed excitation conditions,demonstrating high convergence accuracy,rapid convergence speed,and ro-bust performance.关键词
机械臂/复合自适应/参数估计/自适应控制/数据驱动/固定时间Key words
manipulator/compound adaptive/parameter estimation/adaptive control/data-driven/fixed-time分类
信息技术与安全科学引用本文复制引用
刘芳伟,王康康,罗莉晗..数据驱动的机械臂固定时间复合自适应控制[J].现代制造工程,2026,(4):45-51,7.基金项目
河南省科技攻关项目(242102110333) （242102110333）
河南开放大学创新人才支持计划项目(HJGC-2024-011) （HJGC-2024-011）
