Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems
The fixed-time trajectory tracking control problem of the uncertain nonlinear Euler–Lagrange system is studied. To ensure the fast, high-precision trajectory tracking performance of this system, a non-singular terminal sliding-mode controller based on Gaussian process regression is proposed. The con...
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MDPI AG
2025-07-01
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| author | Tong Li Tianqi Chen Liang Sun |
| author_facet | Tong Li Tianqi Chen Liang Sun |
| author_sort | Tong Li |
| collection | DOAJ |
| description | The fixed-time trajectory tracking control problem of the uncertain nonlinear Euler–Lagrange system is studied. To ensure the fast, high-precision trajectory tracking performance of this system, a non-singular terminal sliding-mode controller based on Gaussian process regression is proposed. The control algorithm proposed in this paper is applicable to periodic motion scenarios, such as spacecraft autonomous orbital rendezvous and repetitive motions of robotic manipulators. Gaussian process regression is employed to establish an offline data-driven model, which is utilized for compensating parametric uncertainties and external disturbances. The non-singular terminal sliding-mode control strategy is used to avoid singularity and ensure fast convergence of tracking errors. In addition, under the Lyapunov framework, the fixed-time convergence stability of the closed-loop system is rigorously demonstrated. The effectiveness of the proposed control scheme is verified through simulations on a spacecraft rendezvous mission and periodic joint trajectory tracking for a robotic manipulator. |
| format | Article |
| id | doaj-art-eff4c993e1de43dbad2c45a3680fc4c2 |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-eff4c993e1de43dbad2c45a3680fc4c22025-08-20T02:45:46ZengMDPI AGActuators2076-08252025-07-0114734910.3390/act14070349Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange SystemsTong Li0Tianqi Chen1Liang Sun2Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, ChinaKey Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, ChinaKey Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, ChinaThe fixed-time trajectory tracking control problem of the uncertain nonlinear Euler–Lagrange system is studied. To ensure the fast, high-precision trajectory tracking performance of this system, a non-singular terminal sliding-mode controller based on Gaussian process regression is proposed. The control algorithm proposed in this paper is applicable to periodic motion scenarios, such as spacecraft autonomous orbital rendezvous and repetitive motions of robotic manipulators. Gaussian process regression is employed to establish an offline data-driven model, which is utilized for compensating parametric uncertainties and external disturbances. The non-singular terminal sliding-mode control strategy is used to avoid singularity and ensure fast convergence of tracking errors. In addition, under the Lyapunov framework, the fixed-time convergence stability of the closed-loop system is rigorously demonstrated. The effectiveness of the proposed control scheme is verified through simulations on a spacecraft rendezvous mission and periodic joint trajectory tracking for a robotic manipulator.https://www.mdpi.com/2076-0825/14/7/349uncertain Euler–Lagrange systemfixed-time controltrajectory tracking controldata-driven modelnon-singular terminal sliding-mode control |
| spellingShingle | Tong Li Tianqi Chen Liang Sun Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems Actuators uncertain Euler–Lagrange system fixed-time control trajectory tracking control data-driven model non-singular terminal sliding-mode control |
| title | Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems |
| title_full | Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems |
| title_fullStr | Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems |
| title_full_unstemmed | Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems |
| title_short | Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems |
| title_sort | gaussian process regression based fixed time trajectory tracking control for uncertain euler lagrange systems |
| topic | uncertain Euler–Lagrange system fixed-time control trajectory tracking control data-driven model non-singular terminal sliding-mode control |
| url | https://www.mdpi.com/2076-0825/14/7/349 |
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