Abstract
In this paper, a time-varying chattering-free disturbance observer-based position tracking control law of serial robotic manipulators is presented to track a reference signal in a finite time. The key idea is to employ a positive-increasing function associated with the control/observer objectives to improve the control performance. First, the model of an uncertain robotic manipulator is presented as the case study of the proposed strategy. Then, the time-varying form of the robotic manipulator model is obtained to provide finite-time boundedness using the first-order sliding mode method. Moreover, without any knowledge about the upper bounds of the uncertainties, a reduced-order observer is presented to estimate the uncertainties in a finite time. Subsequently, a disturbance observer-based finite-time position tracking control law is designed. The time-varying gains are provided to converge the position tracking error to a neighborhood of zero in a finite time. Finally, comparative simulations are presented to show the effectiveness of the proposed scheme compared to other existing strategies.
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All authors wrote and approved the manuscript. Hamid Razmjooei: Conceptualization, Methodology, Software, Validation, Formal analysis, Investigation, Resources, Data curation, Writing - original draft, Writing - review & editing, Visualization, Project administration, Funding acquisition. Mohammad Hossein Shafiei, Gianluca Palli, and Mohammad Mehdi Arefi: Conceptualization, Methodology, Resources, Writing - review & editing, Supervision, Project administration.
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Razmjooei, H., Shafiei, M.H., Palli, G. et al. Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method. J Intell Robot Syst 104, 36 (2022). https://doi.org/10.1007/s10846-022-01571-x
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DOI: https://doi.org/10.1007/s10846-022-01571-x