Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots
Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Wang, Huiming [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2021 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
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| Übergeordnetes Werk: |
Enthalten in: Nonlinear dynamics - Springer Netherlands, 1990, 106(2021), 1 vom: 01. Sept., Seite 459-471 |
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| Übergeordnetes Werk: |
volume:106 ; year:2021 ; number:1 ; day:01 ; month:09 ; pages:459-471 |
| Links: |
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| DOI / URN: |
10.1007/s11071-021-06868-4 |
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OLC2077088885 |
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| 520 | |a Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. | ||
| 650 | 4 | |a Finite-time control | |
| 650 | 4 | |a Finite-time disturbance observer (FTDO) | |
| 650 | 4 | |a Time-varying disturbance | |
| 650 | 4 | |a Flexible-joint robots (FJRs) | |
| 700 | 1 | |a Zhang, Yang |4 aut | |
| 700 | 1 | |a Zhao, Zhenhua |4 aut | |
| 700 | 1 | |a Tang, Xianlun |4 aut | |
| 700 | 1 | |a Yang, Jun |4 aut | |
| 700 | 1 | |a Chen, I-Ming |4 aut | |
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10.1007/s11071-021-06868-4 doi (DE-627)OLC2077088885 (DE-He213)s11071-021-06868-4-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. Finite-time control Finite-time disturbance observer (FTDO) Time-varying disturbance Flexible-joint robots (FJRs) Zhang, Yang aut Zhao, Zhenhua aut Tang, Xianlun aut Yang, Jun aut Chen, I-Ming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 106(2021), 1 vom: 01. Sept., Seite 459-471 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:106 year:2021 number:1 day:01 month:09 pages:459-471 https://doi.org/10.1007/s11071-021-06868-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-MAT AR 106 2021 1 01 09 459-471 |
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10.1007/s11071-021-06868-4 doi (DE-627)OLC2077088885 (DE-He213)s11071-021-06868-4-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. Finite-time control Finite-time disturbance observer (FTDO) Time-varying disturbance Flexible-joint robots (FJRs) Zhang, Yang aut Zhao, Zhenhua aut Tang, Xianlun aut Yang, Jun aut Chen, I-Ming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 106(2021), 1 vom: 01. Sept., Seite 459-471 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:106 year:2021 number:1 day:01 month:09 pages:459-471 https://doi.org/10.1007/s11071-021-06868-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-MAT AR 106 2021 1 01 09 459-471 |
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10.1007/s11071-021-06868-4 doi (DE-627)OLC2077088885 (DE-He213)s11071-021-06868-4-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. Finite-time control Finite-time disturbance observer (FTDO) Time-varying disturbance Flexible-joint robots (FJRs) Zhang, Yang aut Zhao, Zhenhua aut Tang, Xianlun aut Yang, Jun aut Chen, I-Ming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 106(2021), 1 vom: 01. Sept., Seite 459-471 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:106 year:2021 number:1 day:01 month:09 pages:459-471 https://doi.org/10.1007/s11071-021-06868-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-MAT AR 106 2021 1 01 09 459-471 |
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10.1007/s11071-021-06868-4 doi (DE-627)OLC2077088885 (DE-He213)s11071-021-06868-4-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. Finite-time control Finite-time disturbance observer (FTDO) Time-varying disturbance Flexible-joint robots (FJRs) Zhang, Yang aut Zhao, Zhenhua aut Tang, Xianlun aut Yang, Jun aut Chen, I-Ming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 106(2021), 1 vom: 01. Sept., Seite 459-471 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:106 year:2021 number:1 day:01 month:09 pages:459-471 https://doi.org/10.1007/s11071-021-06868-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-MAT AR 106 2021 1 01 09 459-471 |
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10.1007/s11071-021-06868-4 doi (DE-627)OLC2077088885 (DE-He213)s11071-021-06868-4-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Wang, Huiming verfasserin (orcid)0000-0003-3109-0195 aut Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots 2021 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2021 Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. Finite-time control Finite-time disturbance observer (FTDO) Time-varying disturbance Flexible-joint robots (FJRs) Zhang, Yang aut Zhao, Zhenhua aut Tang, Xianlun aut Yang, Jun aut Chen, I-Ming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 106(2021), 1 vom: 01. Sept., Seite 459-471 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:106 year:2021 number:1 day:01 month:09 pages:459-471 https://doi.org/10.1007/s11071-021-06868-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-MAT AR 106 2021 1 01 09 459-471 |
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Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots |
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Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. © The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
| abstractGer |
Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. © The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
| abstract_unstemmed |
Abstract This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a flatness dynamic model, a finite-time disturbance observer (FTDO) with only link-side position measurements is firstly developed to estimate the lumped unknown time-varying disturbance and unmeasurable states. Then, through the information of the states and disturbances provided by the FTDO, a robust output feedback controller is constructed, which can accomplish the tasks of disturbance suppression and trajectory tracking in finite time. Moreover, a rigorous stability analysis of the closed-loop system based on a finite-time bounded (FTB) function is conducted. Finally, the simulation results validate the feasibility and superiority of the proposed control scheme against other existing control results. © The Author(s), under exclusive licence to Springer Nature B.V. 2021 |
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| title_short |
Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots |
| url |
https://doi.org/10.1007/s11071-021-06868-4 |
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false |
| author2 |
Zhang, Yang Zhao, Zhenhua Tang, Xianlun Yang, Jun Chen, I-Ming |
| author2Str |
Zhang, Yang Zhao, Zhenhua Tang, Xianlun Yang, Jun Chen, I-Ming |
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130936782 |
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| doi_str |
10.1007/s11071-021-06868-4 |
| up_date |
2024-07-03T13:42:07.116Z |
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