Zhang Ye, Sun Ruibo, Shang Jie
Sinopec Yangzi Petrochemical Co., Ltd., Nanjing 210048, China.
School of Electrons and Information Engineering, University of Science and Technology Liaonin, Anshan 114051, China.
Sensors (Basel). 2025 Mar 30;25(7):2195. doi: 10.3390/s25072195.
Flexible-joint manipulators have a lightweight nature, compact structure, and high flexibility, making them widely applicable in industrial manufacturing, biomedical instruments, and aerospace fields. However, the inherent flexibility of single-link flexible-joint manipulators (SLFJMs) poses substantial control challenges. Compared to traditional control algorithms, prescribed performance control (PPC) algorithms provide superior transient response and steady-state performance by defining a prescribed performance function. However, existing PPC algorithms are limited to a specific range of system initial states, which reduces the joint manipulator's operational workspace and weakens the robustness of the control algorithm. To address this issue, this study proposes a prescribed performance bounded-H fault-tolerant controller for SLFJMs. By designing an improved tangent-type barrier Lyapunov function (BLF), a prescribed performance controller that is independent of the initial state of the SLFJM is developed. An input control function (ICF) is employed to mitigate the impulse response of the control input, ensuring a smooth transition from zero. Furthermore, the improved tangent-type BLF enables the tracking error to rapidly converge to a small neighborhood of zero. Finally, a stabilization control simulation experiment is conducted; the results validate the effectiveness of the proposed prescribed performance bounded-H controller.
柔性关节机械手具有重量轻、结构紧凑和高灵活性的特点，使其在工业制造、生物医学仪器和航空航天领域得到广泛应用。然而，单连杆柔性关节机械手（SLFJMs）固有的灵活性带来了重大的控制挑战。与传统控制算法相比，规定性能控制（PPC）算法通过定义规定性能函数提供了卓越的瞬态响应和稳态性能。然而，现有的PPC算法仅限于系统初始状态的特定范围，这减小了关节机械手的操作工作空间并削弱了控制算法的鲁棒性。为了解决这个问题，本研究提出了一种用于SLFJMs的规定性能有界H容错控制器。通过设计一种改进的切线型障碍Lyapunov函数（BLF），开发了一种与SLFJM初始状态无关的规定性能控制器。采用输入控制函数（ICF）来减轻控制输入的脉冲响应，确保从零平稳过渡。此外，改进的切线型BLF使跟踪误差能够快速收敛到零的一个小邻域。最后，进行了稳定控制仿真实验；结果验证了所提出的规定性能有界H控制器的有效性。
