Fixed-Time Dynamic Surface Control for Pneumatic Manipulator System With Unknown Disturbances

被引：8
|
作者：
Zhang, Jinhui [1 ]
Xu, Fang [1 ]
Liu, Xin [1 ]
Gu, Shaomeng [1 ]
Geng, Hua [2 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
[2] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Fixed-time dynamic surface control (FTDSC); nonlinear disturbance observer (NDO); pneumatic manipulator system; trajectory tracking control; SLIDING MODE CONTROL; TRAJECTORY TRACKING; POSITION CONTROL; OBSERVER; DRIVEN; DESIGN;
D O I：
10.1109/LRA.2022.3196469
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this article, a new nonlinear disturbance observer (NDO) based fixed-time dynamic surface control (FTDSC) approach is developed to achieve desired trajectory tracking control performances of the pneumatic manipulator system driven by pneumatic artificial muscles (PAMs). To achieve active disturbance rejection, an NDO is proposed to estimate the unknown disturbances in the pneumatic manipulator system. Then, a fixed-time dynamic surface controller is introduced, and the variable gains are designed to achieve desired control performances. Finally, comparative simulations and experiments verify that the proposed approach is effective to achieve desired trajectory tracking control performances.
引用
收藏
页码：10890 / 10897
页数：8
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