Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances

Jiacheng Lou (), Xuecheng Wen () and Sergei Shavetov
Additional contact information
Jiacheng Lou: Faculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy Ave., 197101 St. Petersburg, Russia
Xuecheng Wen: Faculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy Ave., 197101 St. Petersburg, Russia
Sergei Shavetov: Faculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy Ave., 197101 St. Petersburg, Russia

Mathematics, 2025, vol. 13, issue 15, 1-20

Abstract: This paper proposes a novel control algorithm for robotic manipulators with unknown nonlinearities and external disturbances. Explicit consideration is given to the physical constraints on joint positions and velocities, ensuring tracking performance without violating prescribed constraints. Finite-time convergence entails significant overshoot magnitudes. A class of nonlinear transformations is employed to ensure state constraint satisfaction while achieving prescribed tracking performance. The command filtered backstepping is employed to circumvent issues of “explosion of terms” in virtual controls. A disturbance observer (DOB), constructed via radial basis function neural networks (RBFNNs), effectively compensates for nonlinearities and time-dependent disturbances. The proposed control law guarantees finite-time stability while preventing position/velocity violations during transients. Simulation results validate the effectiveness of the proposed approach.

Keywords: coordinate transformation; finite-time stability; disturbance observer; nonlinear systems; nonlinear control; manipulators (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
References: Add references at CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/13/15/2336/pdf (application/pdf)
https://www.mdpi.com/2227-7390/13/15/2336/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:13:y:2025:i:15:p:2336-:d:1707467

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().