Disturbance observer-based robust fixed-time integrated trajectory tracking control for space manipulator

Abstract

This article investigates the fixed-time trajectory tracking control of a free-flying rigid space manipulator perturbed by model uncertainties and external disturbances. A novel robust fixed-time integrated controller is developed by integrating a nominal fixed-time proportional–differential-like controller with a fixed-time disturbance observer. It is strictly proved that the proposed controller can ensure the position and velocity tracking errors regulate to zero in fixed time even subject to lumped disturbance. Benefiting from the feedforward compensation, the proposed controller has the strong robustness and excellent disturbance attenuation capability. The effectiveness and advantages of the proposed control approach are validated through simulations and comparisons.

Manipulator trajectory tracking based on adaptive fuzzy sliding mode control

“…To solve the actuator saturation problem, a nonlinear anti‐saturation compensator was designed. Yao et al 70 investigated the fixed‐time trajectory tracking of manipulator under model uncertainty and external disturbance perturbations, and developed a novel robust integrated controller. Yang et al 71 proposed scheme for manipulator trajectory tracking task considering output error constraints.…”

RBFNN-Based Adaptive Integral Sliding Mode Feedback and Feedforward Control for a Lower Limb Exoskeleton Robot

“…In [27], a feedforward control combined with a PID feedback control method is introduced to achieve rapid convergence for industrial robots. In [28], an optimal ISM control with feedforward compensation is proposed to mitigate external disturbances. However, this method is specifically applied to an offshore steel jacket-type platform system.…”