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For output-constrainted flexible-joint robot systems, finite-time tracking control is considered in this article. Different from most of the existing command filters, the derivability of our proposed command filter is ensured by switch function. The control strategy guarantees that the tracking error is arbitrarily small in finite time. At last, a simulation example is given to support our control strategy.

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Finite-Time Tracking Control for Output-Constrained Flexible-Joint Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Qingtan Meng,
  • Qian Ma,
  • Yingkang Xie,
  • Zhen Wang

摘要

For output-constrainted flexible-joint robot systems, finite-time tracking control is considered in this article. Different from most of the existing command filters, the derivability of our proposed command filter is ensured by switch function. The control strategy guarantees that the tracking error is arbitrarily small in finite time. At last, a simulation example is given to support our control strategy.