A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

Abstract

This paper proposes a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time disturbance observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on fixed-time control strategy was developed to achieve the global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is used to obtain the fixed-time stability and convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the proposed decentralized fixed-time tracking control algorithm.