Robust Finite-Time Tracking Control for Robotic Manipulators with Time Delay Estimation

摘要

In this study, a robust H∞ finite-time tracking controller is proposed for robotic manipulators based on time delay estimation. In this controller, there is no need to know the dynamics of robots, so it is quite simple. The high-gain observer is employed to estimate the joint velocities, which makes it much lower in cost. The theorem proof shows that the closed-loop system is finite-time stable and has a L2 gain that is less than or equal to γ, which shows high accuracy and strong robustness to estimation errors and external disturbances. Simulations on a two-link robot illustrate the effectiveness and advantages of the proposed controllers.