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A Robust Observer Based Control Strategy for n DOF Uncertain Robot Manipulators with Fixed Time Stability

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Abstract
In this paper, a robust observer?based control strategy for n?DOF uncertain robot manipulators
with fixed?time stability was developed. The novel fixed?time nonsingular sliding mode surface
enables control errors to converge to the equilibrium point quickly within fixed time without
singularity. The development of the novel fixed?time disturbance observer based on a uniform robust
exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed.
The designed observer can accurately approximate uncertain terms within a fixed time and
contribute to significant chattering reduction in the traditional sliding mode control. A robust observer?
based control strategy was formulated, according to a combination of the fixed?time
nonsingular terminal sliding mode control method and the designed observer, to yield global fixed
time stability for n?DOF uncertain robot manipulators. The proposed controller proved definitively
that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed
observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed
control strategy in fixed time were fully confirmed by simulation performance on an industrial
robot manipulator.
Author(s)
보 안 뚜안츠엉 탄 웬강희준Mien Van
Issued Date
2021
Type
Article
Keyword
fixed-time controlnonsingular terminal sliding mode controlrobot manipulatorsuniform robust exact differentiator
DOI
10.3390/s21217084
URI
https://oak.ulsan.ac.kr/handle/2021.oak/9118
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_doaj_primary_oai_doaj_org_article_c38dd609371a43e38877558ef8e67342&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,A%20Robust%20Observer%20Based%20Control%20Strategy%20for%20n%20DOF%20Uncertain%20Robot%20Manipulators%20with%20Fixed%20Time%20Stability&offset=0&pcAvailability=true
Publisher
SENSORS
Location
스위스
Language
영어
ISSN
1424-8220
Citation Volume
21
Citation Number
21
Citation Start Page
7084
Citation End Page
7084
Appears in Collections:
Engineering > Aerospace Engineering
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