Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

International Journal of Advanced Robotic Systems

ChaoChen¹ 

关键词: Finite-time control;    finite-time model-assisted extended state observer;    robotic manipulators;    system uncertainties;    tracking control;   

DOI  :  10.1177/1729881419844655

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time model-assisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov’s stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.

【 授权许可】

CC BY