Name
Title | ||
|---|---|---|
Fixed-Time Tracking Control For Two-Link Rigid Manipulator Based On Disturbance Observer |
Abstract | ||
|---|---|---|
This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1177/0142331220983637 | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL |
Keywords | DocType | Volume |
Trajectory tracking, inverse dynamics control, disturbance observer, bi-limit homogeneous, fixed-time stability | Journal | 43 |
Issue | ISSN | Citations |
9 | 0142-3312 | 0 |
PageRank | References | Authors |
0.34 | 0 | 2 |