Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

This paper proposes an adaptive discrete finite-time synergetic control （ADFTSC） scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states whi...

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Bibliographic Details
Published in:Chinese physics B 2013-10, Vol.22 (10), p.197-205
Main Author: 薛广月 任雪梅 夏元清
Format: Article
Language:English
Subjects:
Adaptive control systems
Control systems
Controllers
Dynamical systems
Dynamics
Estimators
Mechanical systems
Sensors
传感器信息融合
关节
协同控制
多速率传感器
扩展卡尔曼滤波器
有限时间收敛
机械系统
自适应离散
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Summary:This paper proposes an adaptive discrete finite-time synergetic control （ADFTSC） scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter （EKF）, the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.
ISSN:1674-1056
2058-3834
1741-4199
DOI:10.1088/1674-1056/22/10/100702