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
Main Authors: Huiming Wang, Yang Zhang, Zhenhua Zhao, Xianlun Tang, Jun Yang, I-Ming Chen
Format: Default Article
Published: 2021
Subjects:
Engineering
Mathematical sciences
Finite-time control
Finite-time disturbance observer (FTDO)
Time-varying disturbance
Flexible-joint robots (FJRs)
Online Access:https://hdl.handle.net/2134/21533643.v1
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