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Finite-Time Disturbance Observer for Robotic Manipulators.

Pengfei Cao1,2, Yahui Gan3,4, Xianzhong Dai5,6

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Summary

This study introduces a novel finite-time disturbance observer (FTO) for robotic manipulators. The FTO rapidly and accurately tracks unknown disturbances, improving robotic control and performance.

Keywords:
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Area of Science:

  • Robotics
  • Control Systems
  • Mechatronics

Background:

  • Robotic manipulators face disturbances like unknown payloads and unmodeled dynamics.
  • Accurate disturbance observation is crucial for applications such as disturbance rejection and sensorless force control.

Purpose of the Study:

  • To introduce a novel disturbance observer (DOB) based on finite-time observer (FTO) principles and robot dynamics.
  • To enable finite-time tracking of unknown disturbances in robotic manipulators.

Main Methods:

  • Developed a novel DOB integrating insights from FTO and robot dynamics.
  • Compared the proposed observer's performance against existing DOBs using simulations.

Main Results:

  • The novel DOB demonstrated the capability for finite-time disturbance tracking.
  • Simulations on a two-link manipulator showed superior rapidity and accuracy compared to existing DOBs.

Conclusions:

  • The proposed FTO offers a significant advancement in observing disturbances for robotic manipulators.
  • The observer's finite-time convergence enhances robotic system performance in rejecting unknown disturbances.