Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots

• DOI: 10.1007/s11071-021-06868-4
• Publication Date: 2021-09-01T16:03:28Z
• Authors: Huiming Wang; Yang Zhang; Zhenhua Zhao; Xianlun Tang; Jun Yang; I-Ming Chen
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

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.