Finite-time anti-disturbance tracking control for flexible manipulator based on backstepping method and disturbance observer

Runcheng Zhang; Jianjiang Yu

doi:10.1117/12.3003790

11 October 2023 Finite-time anti-disturbance tracking control for flexible manipulator based on backstepping method and disturbance observer

Runcheng Zhang, Jianjiang Yu

Author Affiliations +

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 128004W (2023) https://doi.org/10.1117/12.3003790
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

This paper proposes a finite-time anti-disturbance control strategy for a single-link flexible manipulator system affected by external disturbances. The strategy combines a disturbance observer with a finite-time control law for estimating unknown disturbances and tracking desired trajectories. The controller is designed using the backstepping method and system stability is analyzed with Lyapunov stability theory. The results show that the strategy maintains system convergence to an equilibrium point under external disturbances. Simulations validate the effectiveness of the control method, with tracking error converging to zero within a finite time and the manipulator tracking the desired trajectory. The disturbance observer accurately estimates the error, highlighting the robustness of the proposed strategy.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Runcheng Zhang and Jianjiang Yu "Finite-time anti-disturbance tracking control for flexible manipulator based on backstepping method and disturbance observer", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 128004W (11 October 2023); https://doi.org/10.1117/12.3003790

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available