Fixed-time tracking control for two-link rigid manipulator based on disturbance observer
Heli Gao, Mou Chen
Abstract
This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.
Topics & Concepts
Control theory (sociology)Tracking (education)Fixed pointConvergence (economics)Observer (physics)Disturbance (geology)Inverse dynamicsLyapunov functionLink (geometry)Lyapunov stabilityState observerStability (learning theory)MathematicsComputer scienceControl (management)KinematicsNonlinear systemArtificial intelligencePhysicsPedagogyEconomicsCombinatoricsClassical mechanicsPsychologyMachine learningQuantum mechanicsPaleontologyEconomic growthMathematical analysisBiologyAdaptive Control of Nonlinear SystemsDistributed Control Multi-Agent SystemsControl and Dynamics of Mobile Robots