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

2021 ◽  
Author(s):  
Huiming Wang ◽  
Yang Zhang ◽  
Zhenhua Zhao ◽  
Xianlun Tang ◽  
Jun Yang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Trajectory Tracking Control ◽  
Flexible Joint ◽  
Flexible Joint Robots

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

Trajectory tracking control of flexible-joint robots

2000 ◽  
Vol 76 (6) ◽  
pp. 757-763 ◽  
Author(s):  
S.Kemal Ider ◽  
M.Kemal Özgören
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Flexible Joint ◽  
Flexible Joint Robots

scholarly journals Combined adaptive neural network and regressor‐based trajectory tracking control of flexible joint robots

2021 ◽  
Author(s):  
Jorge Montoya‐Cháirez ◽  
Javier Moreno‐Valenzuela ◽  
Víctor Santibáñez ◽  
Ricardo Carelli ◽  
Fracisco G. Rossomando ◽  
...  
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Adaptive Neural Network ◽  
Trajectory Tracking Control ◽  
Flexible Joint ◽  
Flexible Joint Robots
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