Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator

• 作者: Zhijia Zhao Zhijie Liu
• 来源期刊: 自动化学报（英文版）
• 年，卷（期）: 2021,（1）
• 所属期刊栏目: PAPERS
• 页码范围: 157-168
• 页数: 12页
• 语种: 英文
• DOI: 10.1109/JAS.2020.1003378

摘要

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.