A new approach to design a finite‐time extended state observer: Uncertain robotic manipulators application

2020 ◽  
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei
Keyword(s):  
Finite Time ◽  
Robotic Manipulators ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
New Approach

scholarly journals Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984465 ◽  
Author(s):  
Chao Chen ◽  
Chengrui Zhang ◽  
Tianliang Hu ◽  
Hepeng Ni ◽  
Qizhi Chen
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Robotic Manipulators ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Uncertain Dynamics

This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time model-assisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov’s stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.

Extended state observer–based output feedback control for spacecraft pose tracking with control input saturation

2021 ◽  
pp. 095441002110177
Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Pose Tracking ◽  
Control Scheme

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

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