This work presents a robust finite-time output feedback control method for a number of nonlinear systems that suffer unpredictable time-varying disturbances. The developed method takes advantage of control techniques based on a finite-time state observer used to estimate the lumped disturbance, where the estimator plays an important role in online compensation after being transmitted to a corresponding controller. Besides, with the state estimation provided by the finite-time state observer, the finite-time output feedback controller can guarantee the finite-time stability of the closed-loop system. The experimental results validate the effectiveness of the developed method on the trajectory tracking control of a robot manipulator.INDEX TERMS Disturbance compensation, finite-time state observer, robust finite-time output feedback control, time-varying disturbance.
To address the high-precision trajectory tracking task of uncertain robotic manipulators, a continuous sliding mode control (CSMC) scheme based on time-varying disturbance estimation and compensation is developed. The proposed control approach can not only avoid the chattering of the traditional sliding mode control (SMC) scheme and solve the problems existing in the application of the CSMC method but also make the robot obtain stronger disturbance rejection performance. Meanwhile, the stability of the closed-loop system under the recommended control approach is guaranteed by a defined Lyapunov function. Finally, the trajectory tracking and disturbance rejection performance of the 2-DOF robot under the action of the PID control, traditional SMC, CSMC, and present control methods are carried out, respectively. The results show the effectiveness and superiority of the proposed control method.INDEX TERMS Continuous sliding mode control (CSMC), time-varying disturbances, disturbance estimation, trajectory tracking.
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