This article proposes a practical adaptive fuzzy backstepping control (FBC) scheme for the constrained locus tracking problem of a nonlinear cable-driven manipulator. Specifically, fuzzy logic systems aim to approximate unknown nonlinear terms, and the adaptive backstepping control achieves tracking of the desired motion state by recursively designing the virtual references and control laws. Compared with the existing FBC, the practicality is enhanced in the sense that: 1) simultaneous compliance with prescribed performance and state constraints; 2) no need for the tricky process of finding feasibility conditions for virtual references under strict constraints; and 3) insensitive to system initial conditions for the tracking error convergence of the constrained system. These advanced features lie in the improvement of backstepping protocols through the novel coordinate transformation mechanism, the designed asymmetric barrier Lyapunov functions, and adaptive fixed-time control laws. Application and comparison studies based on a laboratory-developed cable-driven manipulator not only confirm the effectiveness but also show the advantages of the proposed scheme.

中文翻译：

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电缆驱动机械臂性能和状态约束系统的实用自适应反步控制


本文针对非线性电缆驱动机械臂的约束轨迹跟踪问题提出了一种实用的自适应模糊反步控制（FBC）方案。具体来说，模糊逻辑系统旨在逼近未知的非线性项，自适应反步控制通过递归设计虚拟参考和控制律来实现对期望运动状态的跟踪。与现有的FBC相比，其实用性增强在于：1)同时符合规定的性能和状态约束； 2）无需在严格约束下寻找虚拟参考的可行性条件的棘手过程； 3) 对约束系统的跟踪误差收敛的系统初始条件不敏感。这些先进的功能在于通过新颖的坐标变换机制、设计的非对称势垒李亚普诺夫函数和自适应固定时间控制律来改进反步协议。基于实验室开发的电缆驱动机械手的应用和比较研究不仅证实了该方案的有效性，而且显示了该方案的优势。