文献类型：期刊文献

英文题名：Prescribed performance trajectory tracking control for an underwater vehicle-manipulator system with FPTPPF

作者：Yang, Jingwei[1,2]; Mai, Qingqun[1,2]; Tian, Xuehong[1,2]; Liu, Haitao[1,2]

机构：[1] Shenzhen Institute of Guangdong Ocean University, Shenzhen, 518120, China; [2] School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, 524088, China

年份：2024

起止页码：3927

外文期刊名：Proceedings - 2024 China Automation Congress, CAC 2024

收录：EI(收录号：20251118057882)

语种：英文

外文关键词：Closed loop control systems - Flexible manipulators - Magnetic levitation vehicles

外文摘要：The problem of prescribed performance control for an underwater vehicle-manipulator system (UVMS) is investigated. Firstly, we design a predefined time control strategy that enables the system to achieve convergence within a predefined time. Secondly, considering the transportation and grasping work to be performed by the lJVMS and to overcome the weaknesses of the existing predetermined performance functions, this project proposes to design an improved flexible predefined time-prescribed performance function (FPTPPF). Then, to ensure that the tracking error has a small overshoot, a control framework of an error transformation function with FPTPPF is employed, which achieves good tracking performance. And a new filter is designed to avoid the "complexity explosion" problem of the backstepping algorithm. Finally, the Lyapunov stability theory is used to prove the predetermined time stability of the closed-loop system, and the effectiveness of the control strategy is verified via numerical simulation. ? 2024 IEEE.