Adaptive Fixed-Time Practically Tracking Control for n-Link Flexible-Joint Manipulator With Input Quantization and Input Delay via Command Filter-Based Approach

Adaptive Fixed-Time Practically Tracking Control for n-Link Flexible-Joint Manipulator With Input Quantization and Input Delay via Command Filter-Based Approach

This paper investigates the fixed-time trajectory tracking control problem for n-link flexible joint manipulator arms subject to input quantization, input delay, and unmodeled dynamics. To address the “explosion of complexity” issue inherent in backstepping-based designs, the c...

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Bibliographic Details
Main Authors: Rongyang Qiu, Meizhen Xia, Jiu Zhang, Chao Ma
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Command filter
fixed-time
input quantization
flexible joint manipulator
switch function
Online Access:https://ieeexplore.ieee.org/document/11017604/
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https://ieeexplore.ieee.org/document/11017604/

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