Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation
In this study, a robust H<sub>∞</sub> finite-time tracking controller is proposed for robotic manipulators based on time delay estimation. In this controller, there is no need to know the dynamics of robots, so it is quite simple. The high-gain observer is employed to estimate...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-01-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/8/2/165 |
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doaj-ec0aeb79425e4cd58b7cd9ac07b8bfbf2020-11-25T02:33:37ZengMDPI AGMathematics2227-73902020-01-018216510.3390/math8020165math8020165Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay EstimationTie Zhang0Aimin Zhang1School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, ChinaSchool of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, ChinaIn this study, a robust H<sub>∞</sub> finite-time tracking controller is proposed for robotic manipulators based on time delay estimation. In this controller, there is no need to know the dynamics of robots, so it is quite simple. The high-gain observer is employed to estimate the joint velocities, which makes it much lower in cost. The theorem proof shows that the closed-loop system is finite-time stable and has a L<sub>2</sub> gain that is less than or equal to γ, which shows high accuracy and strong robustness to estimation errors and external disturbances. Simulations on a two-link robot illustrate the effectiveness and advantages of the proposed controllers.https://www.mdpi.com/2227-7390/8/2/165finite-time controltime delay estimationrobust h<sub>∞</sub>robotic manipulatorshigh-gain observer |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Tie Zhang Aimin Zhang |
| spellingShingle |
Tie Zhang Aimin Zhang Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation Mathematics finite-time control time delay estimation robust h<sub>∞</sub> robotic manipulators high-gain observer |
| author_facet |
Tie Zhang Aimin Zhang |
| author_sort |
Tie Zhang |
| title |
Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation |
| title_short |
Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation |
| title_full |
Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation |
| title_fullStr |
Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation |
| title_full_unstemmed |
Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation |
| title_sort |
robust finite-time tracking control for robotic manipulators with time delay estimation |
| publisher |
MDPI AG |
| series |
Mathematics |
| issn |
2227-7390 |
| publishDate |
2020-01-01 |
| description |
In this study, a robust H<sub>∞</sub> finite-time tracking controller is proposed for robotic manipulators based on time delay estimation. In this controller, there is no need to know the dynamics of robots, so it is quite simple. The high-gain observer is employed to estimate the joint velocities, which makes it much lower in cost. The theorem proof shows that the closed-loop system is finite-time stable and has a L<sub>2</sub> gain that is less than or equal to γ, which shows high accuracy and strong robustness to estimation errors and external disturbances. Simulations on a two-link robot illustrate the effectiveness and advantages of the proposed controllers. |
| topic |
finite-time control time delay estimation robust h<sub>∞</sub> robotic manipulators high-gain observer |
| url |
https://www.mdpi.com/2227-7390/8/2/165 |
| work_keys_str_mv |
AT tiezhang robustfinitetimetrackingcontrolforroboticmanipulatorswithtimedelayestimation AT aiminzhang robustfinitetimetrackingcontrolforroboticmanipulatorswithtimedelayestimation |
| _version_ |
1724812672757661696 |