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Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots

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posted on 2022-11-10, 15:25 authored by Huiming Wang, Yang Zhang, Zhenhua Zhao, Xianlun Tang, Jun YangJun Yang, I-Ming Chen
This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results.

Funding

Research on Compound Active Anti-interference Control of Rehabilitation Training Robot

National Natural Science Foundation of China

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Research on Online Trajectory Planning and Active Anti-interference Control of Deep Space Detector Atmospheric Entry Process

National Natural Science Foundation of China

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National Robotics Program, RDS, SERC, Singapore (1922200001)

Foundation of Chongqing University of Posts and Telecommunications (A2017-74, A2017-15)

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Nonlinear Dynamics

Volume

106

Issue

1

Pages

459 - 471

Publisher

Springer

Version

  • AM (Accepted Manuscript)

Rights holder

© The Author(s), under exclusive licence to Springer Nature B.V.

Publisher statement

This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature’s AM terms of use, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: https://doi.org/10.1007/s11071-021-06868-4

Acceptance date

2021-08-24

Publication date

2021-09-01

Copyright date

2021

ISSN

0924-090X

eISSN

1573-269X

Language

  • en

Depositor

Dr Jun Yang. Deposit date: 10 November 2022

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