Gaussian Process Regression-Based Fixed-Time Trajectory Tracking Control for Uncertain Euler–Lagrange Systems

摘要

The fixed-time trajectory tracking control problem of the uncertain nonlinear Euler–Lagrange system is studied. To ensure the fast, high-precision trajectory tracking performance of this system, a non-singular terminal sliding-mode controller based on Gaussian process regression is proposed. The control algorithm proposed in this paper is applicable to periodic motion scenarios, such as spacecraft autonomous orbital rendezvous and repetitive motions of robotic manipulators. Gaussian process regression is employed to establish an offline data-driven model, which is utilized for compensating parametric uncertainties and external disturbances. The non-singular terminal sliding-mode control strategy is used to avoid singularity and ensure fast convergence of tracking errors. In addition, under the Lyapunov framework, the fixed-time convergence stability of the closed-loop system is rigorously demonstrated. The effectiveness of the proposed control scheme is verified through simulations on a spacecraft rendezvous mission and periodic joint trajectory tracking for a robotic manipulator.