Paper Info
Title
Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method
Abstract
In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies.
Year
DOI
Venue
2022
10.1007/s10846-022-01571-x
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Keywords
DocType
Volume
Finite-time tracking control, Nonlinear finite-time observer, Robotic manipulators, Stability analysis, Uncertain time-varying system
Journal
104
Issue
ISSN
Citations 
2
0921-0296
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Hamid Razmjooei101.01
Mohammad Hossein Shafiei210.70
Gianluca Palli326829.98
Mohammad Mehdi Arefi400.68