This paper proposes a nonlinear disturbance observer-based continuous fixed-time tracking control scheme for uncertain robotic systems. A nonlinear disturbance observer is constructed to estimate and reject the lumped disturbance of the control systems in real-time. It exhibits good results in terms of disturbance estimating and computational cost. Based on the disturbance observer, a fixed-time tracking control scheme for the uncertain robotic system is presented. Compared with the existing fast nonsingular integral terminal sliding mode controller, the proposed controller ensures local fixed-time convergence of both velocity tracking error and position tracking error. The stability and fixed-time convergence of the proposed controller are analyzed using the Lyapunov theory. Finally, comparative simulations of both the numerical and application examples are conducted to verify the proposed control schemes’ effectiveness, indicating that the continuous fixed-time tracking control scheme can be used effectively for robotic systems.
Nonlinear Disturbance Observer-Based Continuous Fixed-time Tracking Control for Uncertain Robotic Systems
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Fixed-time Convergence , Disturbance Observer , Robotic Systems Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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