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Finite-time convergence disturbance rejection control for a flexible Timoshenko manipulator
IEEE/CAA Journal of Automatica Sinica ( IF 11.8 ) Pub Date : 2020-09-24 , DOI: 10.1109/jas.2020.1003378
Zhijia Zhao , Zhijie Liu

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.

中文翻译:

灵活的Timoshenko机械臂的有限时间收敛扰动抑制控制

本文着重研究一种新的有限时间收敛性扰动抑制控制方案设计,该方案针对具有外部扰动的柔性Timoshenko机械臂。为了抑制剪切变形和弹性振荡,将操纵器定位在所需的角度,并确保扰动的有限时间收敛,我们开发了三个扰动观测器(DO)和边界控制器。在导出的基于DOs的控制方案下,可确保受控系统具有均匀有界稳定性,并且干扰估计误差在有限时间内收敛为零。最后,通过有限差分法建立了数值模拟,通过选择合适的参数来证明所设计方案的有效性。
更新日期:2020-11-27
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