Finite-Time Tracking Control of a Flexible Link Manipulator Based on an Extended State Observer
Source abstract
Abstract
In this paper, the finite-time trajectory tracking control problem of a flexible link manipulator (FLM) system with unknown parameters is investigated in joint space. An adaptive nonsingular terminal sliding mode (ANTSM) controller based on an extended state observer (ESO) is proposed to ensure that the tracking error converges to a small neighborhood of zero. Firstly, an adaptive ESO is introduced, which is used to estimate unknown system parameters, including the unknown rigid-flexible coupling coefficient and the unknown control gain. Then, an ESO based on the parameters estimated above is proposed to estimate the unmodeled dynamics and external disturbances of the system in real-time. Finally, an ANTSM controller based on ESO is studied to achieve finite-time trajectory tracking control and vibration suppression without any prior knowledge of system uncertainties and external disturbances. The finite-time convergence ability of the closed-loop system is proved by Lyapunov theory. Experimental results on the Quanser Flexible Link System verify the effectiveness of the proposed controller.
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Research context
OpenAlex topics: Dynamics and Control of Mechanical Systems · Adaptive Control of Nonlinear Systems · Vehicle Dynamics and Control Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an 710119, China
University of Chinese Academy of Sciences, Beijing 100049, China
Key Laboratory of Space Precision Measurement Technology, Chinese Academy of Sciences, Xi’an 710119, China
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