Finite-Time Output Feedback Control for a Rigid Hydraulic Manipulator System

Yong-Sheng Hao, Zhi-Gang Su and Xiangyu Wang

Mathematical Problems in Engineering, 2018, vol. 2018, 1-9

Abstract:

The position tracking control problem of a hydraulic manipulator system is investigated. By utilizing homogeneity theory, a finite-time output feedback controller is designed. Firstly, a finite-time state feedback controller is developed based on homogeneity theory. Secondly, a nonlinear state observer is designed to estimate the manipulator’s velocity. A rigorous analysis process is presented to demonstrate the observer’s finite-time stability. Finally, the corresponding output feedback tracking controller is derived, which stabilizes the tracking error system in finite time. Simulations demonstrate the effectiveness of the designed finite-time output feedback controller.

Date: 2018
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:9316562

DOI: 10.1155/2018/9316562

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