Finite-Time Output Feedback Control for Flexible-Joint Systems Under Time-Varying Disturbances
文献类型：会议论文
| 作者 | Wang, Huiming; Lu, Qinggao; Zhang, Qiyao; Zhong, Jiaqi; Wang, Baolei; Li, Qingdu |
| 出版日期 | 2018 |
| 会议日期 | NOV 30-DEC 02, 2018 |
| 关键词 | ARM MANIPULATOR DESIGN |
| 英文摘要 | The paper studies the trajectory tracking problem of flexible-joint systems under time-varying disturbances. A novel finite-time observer based control methodology is proposed for systems, which is targeted to improve the tracking performance and reduce the effect of the disturbances on the systems. The design mainly consists of a finite-time observer and a finite-time output feedback controller. The finite-time observer is used to estimate unknown time-varying disturbances, higher-order derivatives of the disturbances and unmeasurable states in finite time. The finite-time output feedback controller realizes the closed-loop control in finite-time by using the estimates of the unmeasurable states and unknown time-vary disturbances from the finite-time observer. Compared with the conventional generalized proportional integral observer based control scheme, test results under two different conditions are presented to demonstrate the effectiveness and superiority of the proposed method. |
| 会议录出版者 | Chinese Automation Congress |
| 学科主题 | Automation & Control Systems |
| ISSN号 | 2688-092X |
| ISBN号 | 978-1-7281-1312-8 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23341]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Wang, Huiming,Lu, Qinggao,Zhang, Qiyao,et al. Finite-Time Output Feedback Control for Flexible-Joint Systems Under Time-Varying Disturbances[C]. 见:. NOV 30-DEC 02, 2018. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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