This paper addresses the robust finite time trajectory tracking control problem for a rigid three-degrees-of-freedom (3-DOF) manipulator system, which is subject to model uncertainty and external disturbances. The disturbances are assumed to be upper bounded. The proposed method incorporates a finite time velocity observer and disturbance observer into the proposed nonlinear control scheme and the conditions of global finite time stability are established. The global finite-time stability of the controlled system is proved by using the finite-time Lyapunov stability theory. Simulation results of a 3-DOF manipulator show that the trajectory tracking was achieved with a finite period of settling time.

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Keywords disturbance observer, Finite-time tracking, global finite-time stability, velocity observer
Persistent URL
Journal IEEE Access
Chen, Z. (Ziyang), Yang, X. (Xiaohui), Zhang, X. (Xiaolong), & Liu, P. (2018). Finite-time trajectory tracking control for rigid 3-DOF manipulators with disturbances. IEEE Access. doi:10.1109/ACCESS.2018.2859435