Fixed-time Trajectory Tracking Control for Pneumatic Multi-DOF Manipulator System with Unknown Disturbances

被引：0
|
作者：
Xu, Fang [1 ]
Liu, Xin [1 ]
Zhang, Jinhui [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年
关键词：
Fixed-time disturbance observer (FTDO); fixed-time dynamic surface controller (FTDSC); pneumatic multi-DOF manipulator system; trajectory tracking control; DYNAMIC SURFACE CONTROL; DESIGN; POSITION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a novel fixed-time control scheme is developed to obtain desired trajectory tracking control performances for the pneumatic multi-degrees of freedom (DOF) manipulator system driven by pneumatic muscles (PMs). A fixed-time disturbance observer (FTDO) is proposed to estimate unknown disturbances in the pneumatic multi-DOF manipulator system, and estimation errors converge into the bounded region effectively in fixed-time. Moreover, a fixed-time dynamic surface controller (FTDSC) is designed to improve trajectory tracking control performances, and the pneumatic multi-DOF manipulator system is proven to be uniformly ultimately fixed-time bounded stable by Lyapunov analysis. Finally, comparative simulations are presented to demonstrate the effectiveness of the proposed control approach.
引用
收藏
页码：668 / 673
页数：6
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