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

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...

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Bibliographic Details
Published in:Nonlinear dynamics 2021-09, Vol.106 (1), p.459-471
Main Authors: Wang, Huiming, Zhang, Yang, Zhao, Zhenhua, Tang, Xianlun, Yang, Jun, Chen, I-Ming
Format: Article
Language:English
Subjects:
Aeronautics
Automation
Automotive Engineering
Classical Mechanics
Closed loop systems
Control
Controllers
Design
Disturbance observers
Dynamic models
Dynamical Systems
Engineering
Feedback control
Laboratories
Mechanical Engineering
Original Paper
Output feedback
Position measurement
Robot control
Robotics
Robots
Robust control
Stability analysis
Tracking control
Tracking problem
Trajectory control
Vibration
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Summary: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.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-021-06868-4