Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

被引：12

作者：

Gao, Heli ^{[1
,2
]}

Chen, Mou ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

[2] Binzhou Univ, Coll Sci, Binzhou, Peoples R China

来源：

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2021年 / 43卷 / 09期

关键词：

Trajectory tracking; inverse dynamics control; disturbance observer; bi-limit homogeneous; fixed-time stability; SLIDING MODE CONTROL; CONTROL SCHEME; DESIGN; STABILITY; SYSTEMS; SPACE;

D O I：

10.1177/0142331220983637

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

引用

页码：1924 / 1935

页数：12

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