Disturbance compensation based finite-time tracking control of rigid manipulator
type: Item
instance of: scholarly article
title: Disturbance compensation based finite-time tracking control of rigid manipulator
zbMATH Open document ID: 1400.93212
DOI: 10.1155/2016/2034795
author: Mohamed Elamin Sahabi
author: Guipu Li
author: Xiangyu Wang
author: Shihua Li
published in: Mathematical Problems in Engineering
publication date: 2018-10-12T00:00:00Z
review text: Summary: The finite-time tracking control problem of rigid manipulator system with mismatched disturbances is investigated via a composite control method. The proposed composite controller is based on finite-time disturbance observer and adding a power integrator technique. First, a finite-time disturbance observer is designed which guarantees that the disturbances can be estimated in a finite time. Then, a composite controller is developed based on adding a power integrator approach and the estimates of the disturbances. Under the proposed composite controller, the manipulator position can track the desired position in a finite time. Simulation results show the effectiveness of the proposed control scheme.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93B12
zbMATH DE Number: 6952880
Wikidata QID: Q59131088
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/2034795
OpenAlex ID: W2273199399
cites work: Finite time position synchronised control for parallel manipulators using fast terminal sliding mode
cites work: A simple global asymptotic convergent observer for uncertain mechanical systems
cites work: Semiglobal stability of saturated linear PID control for robot manipulators
cites work: Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics
cites work: Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics
cites work: Finite-Time Stability of Continuous Autonomous Systems
cites work: Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics
cites work: Geometric homogeneity with applications to finite-time stability
cites work: Finite-Time Attitude Tracking Control of Spacecraft With Application to Attitude Synchronization
cites work: Global finite-time stabilization of a class of uncertain nonlinear systems
cites work: Global finite-time stabilization by output feedback for planar systems without observable linearization
cites work: Continuous Finite-Time Output Regulation for Disturbed Systems Under Mismatching Condition
cites work: Recursive design of finite-time convergent observers for a class of time-varying nonlinear systems
cites work: Finite-time stabilization of stochastic nonlinear systems in strict-feedback form
cites work: Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance
cites work: On nonsingular terminal sliding-mode control of nonlinear systems
cites work: Chattering free full-order sliding-mode control
cites work: Finite-time consensus and collision avoidance control algorithms for multiple AUVs
cites work: Non-singular terminal sliding mode control of rigid manipulators
cites work: Finite-time control for robot manipulators
cites work: Global continuous finite-time tracking of robot manipulators
cites work: Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach
cites work: Higher-order sliding modes, differentiation and output-feedback control
cites work: Smooth second-order sliding modes: missile guidance application
Recommended article: Disturbance observer-based fixed-time prescribed performance tracking control for robotic manipulator
Recommended article: Tracking control with disturbance attenuation for robot manipulators
Recommended article: Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation
Recommended article: Finite-time trajectory tracking control in a task space of robotic manipulators
Recommended article: Q4901684
Recommended article: Robust tracking control for rigid robotic manipulators
Recommended article: Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback
Recommended article: Finite-time control of robotic manipulators
Recommended article: Lyapunov‐based finite‐time control of robot manipulators
Recommended article: Global continuous finite-time tracking of robot manipulators
description: scientific article; zbMATH DE number 6952880