TY - GEN
T1 - Fixed-time Trajectory Tracking Control for Pneumatic Multi-DOF Manipulator System with Unknown Disturbances
AU - Xu, Fang
AU - Liu, Xin
AU - Zhang, Jinhui
N1 - Publisher Copyright:
© 2022 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2022
Y1 - 2022
N2 - In this paper, a novel fixed-time control scheme is developed to obtain desired trajectory tracking control performances for the pneumatic multi-degrees of freedom (DOF) manipulator system driven by pneumatic muscles (PMs). A fixed-time disturbance observer (FTDO) is proposed to estimate unknown disturbances in the pneumatic multi-DOF manipulator system, and estimation errors converge into the bounded region effectively in fixed-time. Moreover, a fixed-time dynamic surface controller (FTDSC) is designed to improve trajectory tracking control performances, and the pneumatic multi-DOF manipulator system is proven to be uniformly ultimately fixed-time bounded stable by Lyapunov analysis. Finally, comparative simulations are presented to demonstrate the effectiveness of the proposed control approach.
AB - In this paper, a novel fixed-time control scheme is developed to obtain desired trajectory tracking control performances for the pneumatic multi-degrees of freedom (DOF) manipulator system driven by pneumatic muscles (PMs). A fixed-time disturbance observer (FTDO) is proposed to estimate unknown disturbances in the pneumatic multi-DOF manipulator system, and estimation errors converge into the bounded region effectively in fixed-time. Moreover, a fixed-time dynamic surface controller (FTDSC) is designed to improve trajectory tracking control performances, and the pneumatic multi-DOF manipulator system is proven to be uniformly ultimately fixed-time bounded stable by Lyapunov analysis. Finally, comparative simulations are presented to demonstrate the effectiveness of the proposed control approach.
KW - Fixed-time disturbance observer (FTDO)
KW - fixed-time dynamic surface controller (FTDSC)
KW - pneumatic multi-DOF manipulator system
KW - trajectory tracking control
UR - http://www.scopus.com/inward/record.url?scp=85140450848&partnerID=8YFLogxK
U2 - 10.23919/CCC55666.2022.9901716
DO - 10.23919/CCC55666.2022.9901716
M3 - Conference contribution
AN - SCOPUS:85140450848
T3 - Chinese Control Conference, CCC
SP - 668
EP - 673
BT - Proceedings of the 41st Chinese Control Conference, CCC 2022
A2 - Li, Zhijun
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 41st Chinese Control Conference, CCC 2022
Y2 - 25 July 2022 through 27 July 2022
ER -