Finite-Time Trajectory Tracking Control for Rigid 3-DOF Manipulators With Disturbances | Zendy

Ziyang Chen | Zendy; Xiaohui Yang | Zendy; Xiaolong Zhang | Zendy; Peter X. Liu | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Finite-Time Trajectory Tracking Control for Rigid 3-DOF Manipulators With Disturbances

Author(s) -

Ziyang Chen,

Xiaohui Yang,

Xiaolong Zhang,

Peter X. Liu

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2859435

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper addresses the robust finite-time trajectory tracking control problem for a rigid three-degrees-of-freedom (3-DOFs) manipulator system, which is subject to model uncertainty and external disturbances. The disturbances are assumed to be upper bounded. The proposed method incorporates a finite-time velocity observer and a disturbance observer into the proposed nonlinear control scheme and the conditions of global finite-time stability are established. The global finite-time stability of the controlled system is proved by using the finite-time Lyapunov stability theory. Simulation results of a 3-DOF manipulator show that the trajectory tracking was achieved with a finite period of settling time.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research