Document Zbl 1533.93535

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J. Robust Nonlinear Control</a> <a href="/?q=in%3A510100" title="Articles in this Issue">34, No. 6, 4213-4233 (2024)</a>. </div> <div class="abstract">Summary: To achieve predefined-time trajectory tracking control of a flexible-joint space robot (FJSR) with actuator constraints, a nonsingular predefined-time dynamic surface control scheme is developed. The input saturation caused by actuator constraints is addressed via the designed predefined-time anti-saturation compensator. On this basis, two different control laws are designed for such high-order nonlinear systems by utilizing the backstepping technique, and a novel nonlinear filter is constructed to filter the virtual control signals, thus avoiding the “differential expansion” phenomenon. Moreover, a singularity-free auxiliary function is designed to solve the singularity issue generated by the derivative of fractional power terms in the predefined-time control algorithm framework. The closed-loop system is proven to be semi-globally predefined-timely uniformly ultimately bounded (SGPTUUB) via constructing the suitable Lyapunov function. The difference and effectiveness of the two designed control laws are illustrated by the conducted simulations. Both of them allow the FJSR system to track the desired trajectory in a reasonably predefined time.<br class="zbmathjax-paragraph">© 2024 John Wiley & Sons Ltd.</div> <div class="clear"></div> <br> <div class="citations"><div class="clear"><a href="/?q=rf%3A7821187">Cited in <strong>1</strong> Document</a></div></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C85" title="MSC2020">93C85</a> </td> <td class="space"> Automated systems (robots, etc.) in control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93E11" title="MSC2020">93E11</a> </td> <td class="space"> Filtering in stochastic control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C10" title="MSC2020">93C10</a> </td> <td class="space"> Nonlinear systems in control theory </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Adynamic+surface+control">dynamic surface control</a>; <a href="/?q=ut%3Aflexible-joint+space+robot">flexible-joint space robot</a>; <a href="/?q=ut%3Ainput+saturation">input saturation</a>; <a href="/?q=ut%3Apredefined-time+control">predefined-time control</a></div>  <div class="modal fade" id="metadataModal" tabindex="-1" role="dialog" aria-labelledby="myModalLabel"> <div class="modal-dialog" role="document"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <h4 class="modal-title" id="myModalLabel">Cite</h4> </div> <div class="modal-body"> <div class="form-group"> <label for="select-output" class="control-label">Format</label> <select id="select-output" class="form-control" aria-label="Select Metadata format"></select> </div> <div class="form-group"> <label for="metadataText" class="control-label">Result</label> <textarea class="form-control" id="metadataText" rows="10" style="min-width: 100%;max-width: 100%"></textarea> </div> <div id="metadata-alert" class="alert alert-danger" role="alert" style="display: none;">  </div> </div> <div class="modal-footer"> <button type="button" class="btn btn-primary" onclick="copyMetadata()">Copy to clipboard</button> <button type="button" class="btn btn-default" data-dismiss="modal">Close</button> </div> </div> </div> </div> <div class="functions clearfix"> <div class="function">  <a type="button" class="btn btn-default btn-xs pdf" data-toggle="modal" data-target="#metadataModal" data-itemtype="Zbl" data-itemname="Zbl 1533.93535" data-ciurl="/ci/07821187" data-biburl="/bibtex/07821187.bib" data-amsurl="/amsrefs/07821187.bib" data-xmlurl="/xml/07821187.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/07821187.pdf" title="Zbl 1533.93535 as PDF">Review PDF</a> </div> <div class="fulltexts"> <span class="fulltext">Full Text:</span> <a class="btn btn-default btn-xs" type="button" href="https://doi.org/10.1002/rnc.7190" aria-label="DOI for “Nonsingular predefined-time dynamic surface control of a flexible-joint space robot with actuator constraints”" title="10.1002/rnc.7190">DOI</a> </div> <div class="sfx" style="float: right;"> </div> </div> <div class="references"> <h3>References:</h3> <table><tr> <td>[1]</td> <td class="space">Chen, L.; 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