Time-Synchronized Convergence Control for n-DOF Robotic Manipulators with System Uncertainties

A time-synchronized (TS) convergence control method for robotic manipulators is proposed. Adversely to finite-time control, a notion of time-synchronization convergence is introduced based on the ratio persistence property, which can ensure that all system components converge simultaneously in a fin...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 24; no. 18; p. 5986
Main Authors Wang, Duansong, Zhang, Gang, Zhang, Tan, Zhang, Jinzhong, Chen, Rui
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 15.09.2024
MDPI
Subjects
Controllers
Design
finite time
Neural networks
ratio persistence
Rehabilitation
rehabilitation robot
Robotics
Robots
Simulation
time-synchronized control
time-synchronized control
finite time
ratio persistence
rehabilitation robot
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Summary:A time-synchronized (TS) convergence control method for robotic manipulators is proposed. Adversely to finite-time control, a notion of time-synchronization convergence is introduced based on the ratio persistence property, which can ensure that all system components converge simultaneously in a finite time. Firstly, a robust disturbance observer is constructed to be compatible with the time-synchronized control framework and precisely estimate system uncertainties. Furthermore, we design a (finite) time-synchronized controller to ensure that all states of the robotic manipulator simultaneously converge to an equilibrium point, irrespective of initial conditions. Stability analysis shows the feasibility of the proposed TS control method. At last, simulations are performed with a two-link rehabilitation robotic system, and the comparison results indicate its superiority.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s24185986