Quasi-Finite-Time Control of Antagonistic Actuated Robots Using Mapping Filtered Forwarding Techniques

This study mainly focuses on designing a quasi-finite-time tracking control law to improve the dynamic performance for a lightweight tendon-driven joint. The mass of the link and viscous torques of lightweight arms are neglected in the dynamic model. Unlike the traditionally exponentially stabilizing control methods, joint angle is able to reach the desired link position in quasi-finite time by using the modified mapping filtered forwarding technique so that fast and accurate responses are realized in the presence of bounded external torques. While increasing the virtual controller gain, the reaching time will be shortened, and the ability of disturbance attenuation will be enhanced. To make this novel method applicable, only reference command and its first derivative are necessary; at the same time, other differential computations for controller design are obviated. Each manifold is designed insensitive to external disturbances. Quasi-finite-time controller performances are demonstrated and compared with the forwarding based dynamic surface control approach through various simulations.

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