The Fixed-Time Observer-Based Adaptive Tracking Control for Aerial Flexible-Joint Robot with Input Saturation and Output Constraint

The Fixed-Time Observer-Based Adaptive Tracking Control for Aerial Flexible-Joint Robot with Input Saturation and Output Constraint

The aerial flexible-joint robot (AFJR) manipulation system has been widely used in recent years. To handle uncertainty, the input saturation and the output constraint existing in the system, a fixed-time observer-based adaptive control scheme (FTOAC) is proposed. First, to estimate the input saturat...

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Bibliographic Details
Main Authors: Tandong Li, Shaobo Li, Hang Sun, Dongchao Lv
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Drones
Subjects:
aerial flexible-joint robot
output constraint
input saturation
neural learning
fixed-time observer
Online Access:https://www.mdpi.com/2504-446X/7/6/348

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