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Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator | |
Zhijia Zhao; Zhijie Liu | |
发表期刊 | IEEE/CAA Journal of Automatica Sinica
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ISSN | 2329-9266 |
2021 | |
卷号 | 8期号:1页码:157-168 |
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. |
关键词 | Disturbance observer disturbance rejection control finite-time convergence Timoshenko manipulator vibration control |
DOI | 10.1109/JAS.2020.1003378 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/43904 |
专题 | 学术期刊_IEEE/CAA Journal of Automatica Sinica |
推荐引用方式 GB/T 7714 | Zhijia Zhao,Zhijie Liu. Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(1):157-168. |
APA | Zhijia Zhao,&Zhijie Liu.(2021).Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator.IEEE/CAA Journal of Automatica Sinica,8(1),157-168. |
MLA | Zhijia Zhao,et al."Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator".IEEE/CAA Journal of Automatica Sinica 8.1(2021):157-168. |
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