Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator

Mohamed Elamin Sahabi, Guipu Li, Xiangyu Wang and Shihua Li

Mathematical Problems in Engineering, 2016, vol. 2016, 1-12

Abstract:

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.

Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:2034795

DOI: 10.1155/2016/2034795

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