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Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator
Joint Authors
Sahabi, Mohamed Elamin
Li, Guipu
Wang, Xiangyu
Li, Shihua
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-01-26
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The finite-time tracking control problem of rigid manipulator system with mismatched disturbances is investigated via a composite control method.
The proposed composite controller is based on finite-time disturbance observer and adding a power integrator technique.
First, a finite-time disturbance observer is designed which guarantees that the disturbances can be estimated in a finite time.
Then, a composite controller is developed based on adding a power integrator approach and the estimates of the disturbances.
Under the proposed composite controller, the manipulator position can track the desired position in a finite time.
Simulation results show the effectiveness of the proposed control scheme.
American Psychological Association (APA)
Sahabi, Mohamed Elamin& Li, Guipu& Wang, Xiangyu& Li, Shihua. 2016. Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1111833
Modern Language Association (MLA)
Sahabi, Mohamed Elamin…[et al.]. Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator. Mathematical Problems in Engineering No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1111833
American Medical Association (AMA)
Sahabi, Mohamed Elamin& Li, Guipu& Wang, Xiangyu& Li, Shihua. Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1111833
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1111833