Finite-Time Output Feedback Control for a Rigid Hydraulic Manipulator System

الملخص EN

The position tracking control problem of a hydraulic manipulator system is investigated.

By utilizing homogeneity theory, a finite-time output feedback controller is designed.

Firstly, a finite-time state feedback controller is developed based on homogeneity theory.

Secondly, a nonlinear state observer is designed to estimate the manipulator’s velocity.

A rigorous analysis process is presented to demonstrate the observer’s finite-time stability.

Finally, the corresponding output feedback tracking controller is derived, which stabilizes the tracking error system in finite time.

Simulations demonstrate the effectiveness of the designed finite-time output feedback controller.