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

doi:10.1109/JAS.2020.1003378

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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
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	被引频次：86[WOS] [WOS记录] [WOS相关记录]
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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