On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties

Abstract

Controlling an underactuated robot is always an important research and engineering issue, especially when the robot is suffering from multiple sources of uncertainties, such as unmodeled dynamics, external disturbance, and parameter uncertainties. To cope with these uncertainties in such uncertain nonlinear systems which is not fully-actuated, this paper proposes a control method that can actively estimate these uncertainties via the extended state observer (ESO), under the scheme of output-feedback control, the lumped uncertainties can be online estimated and actively compensated. Every joint of the underactuated robotic system can robustly reach the pre-given state in finite-time even though there are only fewer joints than the actual number of joints that can be controlled directly. The experimental results demonstrate the control process and validate that the proposed method is feasible for the studied underactuated robotic system.

A new regulation control method for underactuated 3D overhead cranes

“…However, because of the underactuated characteristics, the control of such systems is extremely challenging. As a result, considerable attention has been attracted for the control of underactuated mechanical systems (Li et al, 2021;Liang et al, 2021Liang et al, , 2022Tuan, 2021;Wang and Cao, 2021;Wu et al, 2021;Zhang et al, 2021;Zhang and Jing, 2022). As a typical example of underactuated systems, as well as a popular transportation tool, overhead cranes are playing a vital role in many practical industrial applications.…”

Finite-time robust stabilization of manipulator system with uncertainty via observer method

“…To improve the robustness and convergence speed of the system, a finite-time control algorithm was introduced in previous works. 21,24–32 The previous studies 24,25,27–32 give the results of finite time correlation control for general nonlinear systems, where, in the study by Zong et al, 29 the finite time stability of interconnected impulsive switching systems is studied. Zong et al 30 presented the finite-time stabilization control results of switched time-delay systems under asynchronous switching conditions.…”

“…Zong et al 31 studied the Annular Finite-Time H ∞ filtering for Networked Switched Systems and obtained some good control results. In the previous literature, 21,26 the authors proposed several control results via the extended state observer (ESO), so that the specified joint can reach the desired state in limited time.…”