A new approach to design a <scp>finite‐time</scp> extended state observer: Uncertain robotic manipulators application
Hamid Razmjooei, Mohammad Hossein Shafiei
Abstract
Abstract In this article, a new approach to design a finite‐time extended state observer (FT‐ESO) for a class of uncertain nonlinear systems is proposed based on a novel coordinate transformation. First, a time‐varying extended state observer (ESO) is designed to make the estimation error uniformly bounded. In this regard, the dynamic of the estimation error is transformed into a linear system with a generalized disturbance term as its input. Then, the time‐varying gains of the ESO are designed to stabilize the system and consequently, to converge the estimation error to the neighborhood of zero and to remain uniformly bounded as t → t 0 + T . In this article, without any knowledge about the disturbance, and uncertainties, a fault‐tolerant FT‐ESO is designed. Simulation results demonstrate the effectiveness of the proposed finite‐time ESO for serial robotic manipulators with any number of links, in the presence of disturbances and an unknown fault.