LAUSR

In this paper, the adaptive full-state constraints bipartite consensus tracking problem for coopetition flexible joint multi-manipulator systems with finite-time convergence is investigated. Based on the finite-time convergent method, the command filtered backstepping technique is introduced to ensure the excellent convergence performance without the influence of the repeated differential problem which is called explosion of complexity, and the error compensation mechanism is proposed to reduce the error caused by the filtering progress. Furthermore, by using the barrier Lyapunov functions, the state of the system and error compensation signals are proved to be constrained in their respective expected ranges. It is worth mentioning that the flexible joint multi manipulator system is in the mode of coopetition. Finally, the practicability of the proposed algorithm is exhibited in the simulation.