Robust Finite-Time Command-Filtered Backstepping Control for Flexible-Joint Robots With Only Position Measurements

This article presents a robust finite-time command-filtered backstepping control strategy for flexible-joint robotic systems with only position measurements. To the best of our knowledge, this method is proposed for the first time and applied to the flexible-joint robot (FJR) system subject to match...

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Published inIEEE transactions on systems, man, and cybernetics. Systems Vol. 54; no. 2; pp. 1 - 13
Main Authors Zhang, Yang, Zhang, Menghua, Du, Fuxin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Backstepping
Backstepping control
Closed loop systems
Closed loops
Controllers
disturbance observer
Disturbance observers
Feedback control
finite-time control
flexible-joint robot (FJR)
Liapunov functions
Manipulators
matched/mismatched disturbance
Position measurement
Robot control
Robots
Robust control
Stability analysis
Trajectory tracking
Online AccessGet full text
ISSN2168-2216
2168-2232
DOI10.1109/TSMC.2023.3324761

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Abstract This article presents a robust finite-time command-filtered backstepping control strategy for flexible-joint robotic systems with only position measurements. To the best of our knowledge, this method is proposed for the first time and applied to the flexible-joint robot (FJR) system subject to matched/mismatched disturbances. Herein, two finite-time disturbance observers (FTDOs) are adopted to reconstruct unmeasurable system states and total matched and mismatched disturbances. By combining a finite-time command-filtered backstepping controller with two FTDOs, a novel robust command-filtered backstepping controller is presented. Meanwhile, the practically finite-time stability analysis of the closed-loop system is rigorously presented by the Lyapunov function. Finally, numerical simulations and experimental studies are carried out for the FJR, whose results show the superiority of the proposed scheme in comparison with the existing approaches, such as the FTCFBC, the ADRC, and the CSMC.
AbstractList This article presents a robust finite-time command-filtered backstepping control strategy for flexible-joint robotic systems with only position measurements. To the best of our knowledge, this method is proposed for the first time and applied to the flexible-joint robot (FJR) system subject to matched/mismatched disturbances. Herein, two finite-time disturbance observers (FTDOs) are adopted to reconstruct unmeasurable system states and total matched and mismatched disturbances. By combining a finite-time command-filtered backstepping controller with two FTDOs, a novel robust command-filtered backstepping controller is presented. Meanwhile, the practically finite-time stability analysis of the closed-loop system is rigorously presented by the Lyapunov function. Finally, numerical simulations and experimental studies are carried out for the FJR, whose results show the superiority of the proposed scheme in comparison with the existing approaches, such as the FTCFBC, the ADRC, and the CSMC.
Author Du, Fuxin
Zhang, Yang
Zhang, Menghua
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Snippet This article presents a robust finite-time command-filtered backstepping control strategy for flexible-joint robotic systems with only position measurements....
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SubjectTerms Backstepping
Backstepping control
Closed loop systems
Closed loops
Controllers
disturbance observer
Disturbance observers
Feedback control
finite-time control
flexible-joint robot (FJR)
Liapunov functions
Manipulators
matched/mismatched disturbance
Position measurement
Robot control
Robots
Robust control
Stability analysis
Trajectory tracking
Title Robust Finite-Time Command-Filtered Backstepping Control for Flexible-Joint Robots With Only Position Measurements
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