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Volume 8 Issue 1
Jan.  2021

IEEE/CAA Journal of Automatica Sinica

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Zhijia Zhao and Zhijie Liu, "Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator," IEEE/CAA J. Autom. Sinica, vol. 8, no. 1, pp. 157-168, Jan. 2021. doi: 10.1109/JAS.2020.1003378
Citation: Zhijia Zhao and Zhijie Liu, "Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator," IEEE/CAA J. Autom. Sinica, vol. 8, no. 1, pp. 157-168, Jan. 2021. doi: 10.1109/JAS.2020.1003378

Finite-Time Convergence Disturbance Rejection Control for a Flexible Timoshenko Manipulator

doi: 10.1109/JAS.2020.1003378
Funds:  This work was supported in part by National Natural Science Foundation of China (61803109), in part by the Innovative School Project of Education Department of Guangdong (2017KQNCX153), in part by the Science and Technology Planning Project of Guangzhou City (201904010494), in part by the Scientific Research Projects of Guangzhou Education Bureau (202032793), in part by the China Postdoctoral Science Foundation (2019M660463), and in part by the Interdisciplinary Research Project for Young Teachers of University of Science and Technology Beijing (FRF-IDRY-19-024)
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  • This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances. To suppress the shear deformation and elastic oscillation, position the manipulator in a desired angle, and ensure the finitetime convergence of disturbances, we develop three disturbance observers (DOs) and boundary controllers. Under the derived DOs-based control schemes, the controlled system is guaranteed to be uniformly bounded stable and disturbance estimation errors converge to zero in a finite time. In the end, numerical simulations are established by finite difference methods to demonstrate the effectiveness of the devised scheme by selecting appropriate parameters.

     

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    Highlights

    • Boundary control is proposed to suppress the vibration and deformation and position the manipulator.
    • Disturbance observers are constructed to guarantee the finite-time convergence of disturbances.
    • The proposed control schemes ensure the uniformly bounded stability in the system.

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