Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method

Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer obje...
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Autor*in:	Razmjooei, Hamid [verfasserIn] Shafiei, Mohammad Hossein Palli, Gianluca Arefi, Mohammad Mehdi

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	Finite-time tracking control Nonlinear finite-time observer Robotic manipulators Stability analysis Uncertain time-varying system

Anmerkung:	© The Author(s) 2022

Übergeordnetes Werk:	Enthalten in: Journal of intelligent and robotic systems - Dordrecht [u.a.] : Springer Science + Business Media B.V, 1988, 104(2022), 2 vom: Feb.
Übergeordnetes Werk:	volume:104 ; year:2022 ; number:2 ; month:02

Links:	Volltext

DOI / URN:	10.1007/s10846-022-01571-x

Katalog-ID:	SPR046210539

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520			\|a Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies.
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allfields	10.1007/s10846-022-01571-x doi (DE-627)SPR046210539 (SPR)s10846-022-01571-x-e DE-627 ger DE-627 rakwb eng Razmjooei, Hamid verfasserin (orcid)0000-0002-6894-2446 aut Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2022 Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. Finite-time tracking control (dpeaa)DE-He213 Nonlinear finite-time observer (dpeaa)DE-He213 Robotic manipulators (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Uncertain time-varying system (dpeaa)DE-He213 Shafiei, Mohammad Hossein aut Palli, Gianluca aut Arefi, Mohammad Mehdi aut Enthalten in Journal of intelligent and robotic systems Dordrecht [u.a.] : Springer Science + Business Media B.V, 1988 104(2022), 2 vom: Feb. (DE-627)271181133 (DE-600)1479543-7 1573-0409 nnns volume:104 year:2022 number:2 month:02 https://dx.doi.org/10.1007/s10846-022-01571-x kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 104 2022 2 02
spelling	10.1007/s10846-022-01571-x doi (DE-627)SPR046210539 (SPR)s10846-022-01571-x-e DE-627 ger DE-627 rakwb eng Razmjooei, Hamid verfasserin (orcid)0000-0002-6894-2446 aut Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2022 Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. Finite-time tracking control (dpeaa)DE-He213 Nonlinear finite-time observer (dpeaa)DE-He213 Robotic manipulators (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Uncertain time-varying system (dpeaa)DE-He213 Shafiei, Mohammad Hossein aut Palli, Gianluca aut Arefi, Mohammad Mehdi aut Enthalten in Journal of intelligent and robotic systems Dordrecht [u.a.] : Springer Science + Business Media B.V, 1988 104(2022), 2 vom: Feb. (DE-627)271181133 (DE-600)1479543-7 1573-0409 nnns volume:104 year:2022 number:2 month:02 https://dx.doi.org/10.1007/s10846-022-01571-x kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 104 2022 2 02
allfields_unstemmed	10.1007/s10846-022-01571-x doi (DE-627)SPR046210539 (SPR)s10846-022-01571-x-e DE-627 ger DE-627 rakwb eng Razmjooei, Hamid verfasserin (orcid)0000-0002-6894-2446 aut Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2022 Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. Finite-time tracking control (dpeaa)DE-He213 Nonlinear finite-time observer (dpeaa)DE-He213 Robotic manipulators (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Uncertain time-varying system (dpeaa)DE-He213 Shafiei, Mohammad Hossein aut Palli, Gianluca aut Arefi, Mohammad Mehdi aut Enthalten in Journal of intelligent and robotic systems Dordrecht [u.a.] : Springer Science + Business Media B.V, 1988 104(2022), 2 vom: Feb. (DE-627)271181133 (DE-600)1479543-7 1573-0409 nnns volume:104 year:2022 number:2 month:02 https://dx.doi.org/10.1007/s10846-022-01571-x kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 104 2022 2 02
allfieldsGer	10.1007/s10846-022-01571-x doi (DE-627)SPR046210539 (SPR)s10846-022-01571-x-e DE-627 ger DE-627 rakwb eng Razmjooei, Hamid verfasserin (orcid)0000-0002-6894-2446 aut Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2022 Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. Finite-time tracking control (dpeaa)DE-He213 Nonlinear finite-time observer (dpeaa)DE-He213 Robotic manipulators (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Uncertain time-varying system (dpeaa)DE-He213 Shafiei, Mohammad Hossein aut Palli, Gianluca aut Arefi, Mohammad Mehdi aut Enthalten in Journal of intelligent and robotic systems Dordrecht [u.a.] : Springer Science + Business Media B.V, 1988 104(2022), 2 vom: Feb. (DE-627)271181133 (DE-600)1479543-7 1573-0409 nnns volume:104 year:2022 number:2 month:02 https://dx.doi.org/10.1007/s10846-022-01571-x kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 104 2022 2 02
allfieldsSound	10.1007/s10846-022-01571-x doi (DE-627)SPR046210539 (SPR)s10846-022-01571-x-e DE-627 ger DE-627 rakwb eng Razmjooei, Hamid verfasserin (orcid)0000-0002-6894-2446 aut Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2022 Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. Finite-time tracking control (dpeaa)DE-He213 Nonlinear finite-time observer (dpeaa)DE-He213 Robotic manipulators (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Uncertain time-varying system (dpeaa)DE-He213 Shafiei, Mohammad Hossein aut Palli, Gianluca aut Arefi, Mohammad Mehdi aut Enthalten in Journal of intelligent and robotic systems Dordrecht [u.a.] : Springer Science + Business Media B.V, 1988 104(2022), 2 vom: Feb. (DE-627)271181133 (DE-600)1479543-7 1573-0409 nnns volume:104 year:2022 number:2 month:02 https://dx.doi.org/10.1007/s10846-022-01571-x kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 104 2022 2 02
language	English
source	Enthalten in Journal of intelligent and robotic systems 104(2022), 2 vom: Feb. volume:104 year:2022 number:2 month:02
sourceStr	Enthalten in Journal of intelligent and robotic systems 104(2022), 2 vom: Feb. volume:104 year:2022 number:2 month:02
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Finite-time tracking control Nonlinear finite-time observer Robotic manipulators Stability analysis Uncertain time-varying system
isfreeaccess_bool	true
container_title	Journal of intelligent and robotic systems
authorswithroles_txt_mv	Razmjooei, Hamid @@aut@@ Shafiei, Mohammad Hossein @@aut@@ Palli, Gianluca @@aut@@ Arefi, Mohammad Mehdi @@aut@@
publishDateDaySort_date	2022-02-01T00:00:00Z
hierarchy_top_id	271181133
id	SPR046210539
language_de	englisch
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author	Razmjooei, Hamid
spellingShingle	Razmjooei, Hamid misc Finite-time tracking control misc Nonlinear finite-time observer misc Robotic manipulators misc Stability analysis misc Uncertain time-varying system Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
authorStr	Razmjooei, Hamid
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topic_title	Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method Finite-time tracking control (dpeaa)DE-He213 Nonlinear finite-time observer (dpeaa)DE-He213 Robotic manipulators (dpeaa)DE-He213 Stability analysis (dpeaa)DE-He213 Uncertain time-varying system (dpeaa)DE-He213
topic	misc Finite-time tracking control misc Nonlinear finite-time observer misc Robotic manipulators misc Stability analysis misc Uncertain time-varying system
topic_unstemmed	misc Finite-time tracking control misc Nonlinear finite-time observer misc Robotic manipulators misc Stability analysis misc Uncertain time-varying system
topic_browse	misc Finite-time tracking control misc Nonlinear finite-time observer misc Robotic manipulators misc Stability analysis misc Uncertain time-varying system
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title	Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
ctrlnum	(DE-627)SPR046210539 (SPR)s10846-022-01571-x-e
title_full	Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
author_sort	Razmjooei, Hamid
journal	Journal of intelligent and robotic systems
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author_browse	Razmjooei, Hamid Shafiei, Mohammad Hossein Palli, Gianluca Arefi, Mohammad Mehdi
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author-letter	Razmjooei, Hamid
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title_sort	non-linear finite-time tracking control of uncertain robotic manipulators using time-varying disturbance observer-based sliding mode method
title_auth	Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
abstract	Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. © The Author(s) 2022
abstractGer	Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. © The Author(s) 2022
abstract_unstemmed	Abstract In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies. © The Author(s) 2022
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container_issue	2
title_short	Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
url	https://dx.doi.org/10.1007/s10846-022-01571-x
remote_bool	true
author2	Shafiei, Mohammad Hossein Palli, Gianluca Arefi, Mohammad Mehdi
author2Str	Shafiei, Mohammad Hossein Palli, Gianluca Arefi, Mohammad Mehdi
ppnlink	271181133
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doi_str	10.1007/s10846-022-01571-x
up_date	2024-07-03T21:05:34.310Z
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Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method

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