Aug 2026· ISA transactions· 0 citations· 29 references
Medicine
Abstract
In this paper, the integration of the unknown system dynamics estimator (USDE) with robust fixed-time/predefined-time control is proposed for robotic systems while effectively eliminating the influence of nonlinear uncertainties and enhancing the overall control performance. Specifically, a USDE that requires adjustment of only one parameter is designed to provide a lumped estimation of both unknown dynamics and disturbances. Then, to achieve rapid convergence of the control errors, the fixed-time/predefined-time control is designed, which ensures the fixed-time/predefined-time convergence of the tracking error to a compact region during both the reaching mode and sliding mode phases. By introducing an adjustable parameter, both the exact convergence time and the size of the convergence region can be precisely regulated simultaneously for the predefined-time control. The stability of the closed-loop system is rigorously proved via Lyapunov theory. Comparative simulations and experiments on a Baxter robot validate the superior convergence speed and tracking accuracy of the proposed schemes.
This paper investigates the finite-time-trajectory tracking control of a robotic manipulator subject to time-varying output constraints and unknown lumped disturbances consisting of model uncertainties and external forces. A novel finite-time integral barrier Lyapunov function (FT-IBLF) with an adjustable parameter is...
Li Ren, Dong-Sheng Ma, Song Liu et al.· Algorithms· 0 citations
This paper investigates the predefined-time adaptive neural tracking control problem for a class of nonlinear pure feedback systems with full state constraints. A novel barrier Lyapunov function (BLF) integrated with a predefined-time performance function (PTPF) is constructed to ensure that the tracking error converge...
Yang Li, Ya-Qi Yu, Quan-Min Zhu et al.· Mathematics· 0 citations
The proposed FTSMC achieves the lowest Integral Squared Error, Integral Absolute Error, and Root Mean Square Error among the compared methods, reducing the ISE by up to a factor of 287, the IAE by up to a factor of 11, and the RMSE by up to a factor of 17.
Saim Ahmed, Z. Haider, A. T. Azar· An International Journal of...· 0 citations
In this study, we have developed a novel robust fixed-time control framework that integrates a fractional-order sliding mode control with a disturbance observer for a quadrotor UAV. The overall system dynamics are represented in a cascaded structure with two major loops: position and orientation (attitude). To facilita...
Nasser Firouzi, Younis K. Khdir· Journal of Vibration and Con...· 0 citations
This paper is concerned with the fixed-time tracking control problem for strict-feedback systems with unknown nonlinearities, suddenly strong disturbances, and event-triggered input. A novel prescribed performance fixed-time control methodology is proposed to handle this problem. In the control design, a new finite-tim...
Ji-Qing Chen, En-Chang Cui, Jia-Yue Sun et al.· IEEE Transactions on Automat...· 0 citations
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