Finite time tracking control for rigid robotic manipulators with friction and external disturbances

2005 ◽  
Author(s):  
Guang Deng Zong ◽  
Yu Qiang Wu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Robotic Manipulators ◽  
External Disturbances

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.

Finite-time attitude tracking control of air bearing table for spacecraft rendezvous and docking

2016 ◽  
Vol 232 (1) ◽  
pp. 96-110 ◽  
Author(s):  
Cheng Huang ◽  
Yan Wang ◽  
Xing-lin Chen
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
Rendezvous And Docking

This paper studies the problem of attitude tracking control for spacecraft rendezvous and docking based on a physical ground simulation system. Two finite-time controllers based on quaternion are proposed by using a novel fast nonsingular terminal sliding mode surface associated with the adaptive control, the novel fast nonsingular terminal sliding mode surface not only contains the advantages of the fast nonsingular terminal sliding mode surface, but also can eliminate unwinding caused by the quaternion. The first controller, which is continuous and chattering-free, can compensate unknown constant external disturbances, while the second controller can both compensate parametric uncertainties and varying external disturbances with unknown bounds without chattering. Lyapunov theoretical analysis and simulation results show that the two controllers can make the closed-loop system errors converge to zero in finite time and guarantee the finite-time stability of the system.

scholarly journals Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Gang Chen ◽  
Qing Lin
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Fuzzy Logic Systems ◽  
External Disturbances ◽  
Communication Topology ◽  
Velocity Information ◽  
Cooperative Tracking

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.

Finite-time fault-tolerant attitude tracking control for spacecraft without unwinding

2018 ◽  
Vol 233 (6) ◽  
pp. 2119-2130 ◽  
Author(s):  
Bing Huang ◽  
Ai-jun Li ◽  
Yong Guo ◽  
Chang-qing Wang ◽  
Jin-hua Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Control Schemes ◽  
Fast Terminal Sliding Mode ◽  
Attitude Tracking Control

This paper investigates the finite-time attitude tracking control problem for spacecraft in the presence of external disturbances and actuator faults. Two anti-unwinding attitude tracking control schemes have been proposed based on the rotation matrix and sliding mode control technology. Utilizing a fast terminal sliding mode surface, the first controller can fulfill the finite-time attitude tracking control task with disturbance rejection ability. The second controller can improve the system reliability when the actuator fault occurs. Rigorous mathematical analysis and proof concludes that the proposed controllers can make a spacecraft track the desired attitude command in finite time. Numerical simulation results are presented to demonstrate the effectiveness of the proposed controllers.

scholarly journals A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 8101
Author(s):  
Thanh Nguyen Truong ◽  
Anh Tuan Vo ◽  
Hee-Jun Kang ◽  
Mien Van
Keyword(s):  
Dynamic Model ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Convergence Speed ◽  
Lyapunov Theory ◽  
Control Input ◽  
Observation Error ◽  
Simulation Performance

Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs that secure trajectory tracking under the assumptions such as the known robot dynamic model and the determined upper boundary of uncertain components. Despite tracking errors that tend to zero in finite time, the weakness of TSMCs is chattering, slow convergence speed, and the need for the exact robot dynamic model. Few studies are handling the weakness of TSMCs by using the combination between TSMCs and finite-time observers. In this paper, we present a novel finite-time fault tolerance control (FTC) method for robotic manipulators. A finite-time fault detection observer (FTFDO) is proposed to estimate all uncertainties, external disturbances, and faults accurately and on time. From the estimated information of FTFDO, a novel finite-time FTC method is developed based on a new finite-time terminal sliding surface and a new finite-time reaching control law. Thanks to this approach, the proposed FTC method provides a fast convergence speed for both observation error and control error in finite time. The operation of the robot system is guaranteed with expected performance even in case of faults, including high tracking accuracy, small chattering behavior in control input signals, and fast transient response with the variation of disturbances, uncertainties, or faults. The stability and finite-time convergence of the proposed control system are verified that they are strictly guaranteed by Lyapunov theory and finite-time control theory. The simulation performance for a FARA robotic manipulator proves the proposed control theory’s correctness and effectiveness.

scholarly journals Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

Algorithms ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 315
Author(s):  
Yuxiao Niu ◽  
Hanyu Ban ◽  
Haichao Zhang ◽  
Wenquan Gong ◽  
Fang Yu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Time Stability ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Dynamic Surface ◽  
Finite Time Stability ◽  
Quadrotor Uav ◽  
Nonsingular Terminal Sliding Mode

In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.

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