Finite-time convergence disturbance rejection control for a flexible Timoshenko manipulator

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.

Automated summary

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.