Journal
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
Volume 8, Issue 1, Pages 157-168Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2020.1003378
Keywords
Disturbance observer; disturbance rejection control; finite-time convergence; Timoshenko manipulator; vibration control
Categories
Funding
- National Natural Science Foundation of China [61803109]
- Innovative School Project of Education Department of Guangdong [2017KQNCX153]
- Science and Technology Planning Project of Guangzhou City [201904010494]
- Scientific Research Projects of Guangzhou Education Bureau [202032793]
- China Postdoctoral Science Foundation [2019M660463]
- Interdisciplinary Research Project for Young Teachers of University of Science and Technology Beijing [FRFIDRY-19-024]
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This paper presents a new finite-time convergence disturbance rejection control scheme for a flexible Timoshenko manipulator, utilizing three disturbance observers and boundary controllers to ensure system stability and finite-time convergence of disturbance estimation errors. Numerical simulations validate the efficacy of the scheme with appropriate parameter selection.
This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances. To suppress the shear deformation and elastic oscillation, position the manipulator in a desired angle, and ensure the finitetime convergence of disturbances, we develop three disturbance observers (DOs) and boundary controllers. Under the derived DOs-based control schemes, the controlled system is guaranteed to be uniformly bounded stable and disturbance estimation errors converge to zero in a finite time. In the end, numerical simulations are established by finite difference methods to demonstrate the effectiveness of the devised scheme by selecting appropriate parameters.
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