A Finite-Time Trajectory-Tracking Method for State-Constrained Flexible Manipulators Based on Improved Back-Stepping Control

In order to solve the trajectory-tracking-control problem of state-constrained flexible manipulator systems, a finite-time back-stepping control method based on command filtering is presented in this paper. Considering that virtual signal requires integration each step, which will lead high computational complexity traditional back-stepping, filter used and obtain intermediate finite time, thus reduce complexity. The compensation mechanism eliminate error generated by filter. Furthermore, adaptive estimation introduced approach uncertainty system. Then, Lyapunov function prove tracking system can be stabilized sufficiently small origin neighborhood within time. simulation single rod demonstrates effect proposed approach.