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Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation

School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China
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Mathematics 2020, 8(2), 165; https://doi.org/10.3390/math8020165
Received: 4 December 2019 / Revised: 19 January 2020 / Accepted: 21 January 2020 / Published: 28 January 2020
(This article belongs to the Special Issue Robust Stabilization of Linear and Nonlinear Systems)
In this study, a robust H finite-time tracking controller is proposed for robotic manipulators based on time delay estimation. In this controller, there is no need to know the dynamics of robots, so it is quite simple. The high-gain observer is employed to estimate the joint velocities, which makes it much lower in cost. The theorem proof shows that the closed-loop system is finite-time stable and has a L2 gain that is less than or equal to γ, which shows high accuracy and strong robustness to estimation errors and external disturbances. Simulations on a two-link robot illustrate the effectiveness and advantages of the proposed controllers.
Keywords: finite-time control; time delay estimation; robust H; robotic manipulators; high-gain observer finite-time control; time delay estimation; robust H; robotic manipulators; high-gain observer
MDPI and ACS Style

Zhang, T.; Zhang, A. Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation. Mathematics 2020, 8, 165.

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