Finite-Time Output Feedback Control for Flexible-Joint Systems Under Time-Varying Disturbances

被引：0
|
作者：
Wang, Huiming [1 ,2 ,3 ]
Lu, Qinggao [1 ,2 ]
Zhang, Qiyao [1 ,2 ]
Zhong, Jiaqi [1 ,2 ]
Wang, Baolei [4 ]
Li, Qingdu [1 ,2 ]
机构：
[1] Chongqing Univ Posts & Telecommun, Minist Educ, Chongqing Key Lab Complex Syst & Bion Control, Chongqing 400065, Peoples R China
[2] Chongqing Univ Posts & Telecommun, Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China
[3] Southeast Univ, Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Jiangsu, Peoples R China
[4] Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Prov Key Lab Robot & Intelligent Mfg Equ, Ningbo 315021, Zhejiang, Peoples R China
来源：
2018 CHINESE AUTOMATION CONGRESS (CAC) | 2018年
基金：
中国国家自然科学基金;
关键词：
Finite-time feedback control; finite-time observer; time-varying disturbances; disturbance compensation; ARM; MANIPULATOR; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper studies the trajectory tracking problem of flexible-joint systems under time-varying disturbances. A novel finite-time observer based control methodology is proposed for systems, which is targeted to improve the tracking performance and reduce the effect of the disturbances on the systems. The design mainly consists of a finite-time observer and a finite-time output feedback controller. The finite-time observer is used to estimate unknown time-varying disturbances, higher-order derivatives of the disturbances and unmeasurable states in finite time. The finite-time output feedback controller realizes the closed-loop control in finite-time by using the estimates of the unmeasurable states and unknown time-vary disturbances from the finite-time observer. Compared with the conventional generalized proportional integral observer based control scheme, test results under two different conditions are presented to demonstrate the effectiveness and superiority of the proposed method.
引用
收藏
页码：970 / 975
页数：6
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