Fixed-Time Dynamic Surface Control for Pneumatic Manipulator System With Unknown Disturbances

Jinhui Zhang*, Fang Xu, Xin Liu, Shaomeng Gu, Hua Geng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)

Abstract

In this article, a new nonlinear disturbance observer (NDO) based fixed-time dynamic surface control (FTDSC) approach is developed to achieve desired trajectory tracking control performances of the pneumatic manipulator system driven by pneumatic artificial muscles (PAMs). To achieve active disturbance rejection, an NDO is proposed to estimate the unknown disturbances in the pneumatic manipulator system. Then, a fixed-time dynamic surface controller is introduced, and the variable gains are designed to achieve desired control performances. Finally, comparative simulations and experiments verify that the proposed approach is effective to achieve desired trajectory tracking control performances.

Original languageEnglish
Pages (from-to)10890-10897
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume7
Issue number4
DOIs
Publication statusPublished - 1 Oct 2022

Keywords

  • Fixed-time dynamic surface control (FTDSC)
  • nonlinear disturbance observer (NDO)
  • pneumatic manipulator system
  • trajectory tracking control

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