Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(9): 3036-3047

https://doi.org/10.1007/s12555-022-0235-0

© The International Journal of Control, Automation, and Systems

A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

Zengpeng Lu, Yuanchun Li, and Yan Li*

Changchun University of Technology

Abstract

This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on a fixedtime control strategy was devised to accomplish global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is utilized to obtain the fixed-time stability as well as convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the presented decentralized fixed-time tracking control.

Keywords Disturbance observer, fixed-time convergence, Lyapunov stability, modular robot manipulators.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(9): 3036-3047

Published online September 1, 2023 https://doi.org/10.1007/s12555-022-0235-0

Copyright © The International Journal of Control, Automation, and Systems.

A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

Zengpeng Lu, Yuanchun Li, and Yan Li*

Changchun University of Technology

Abstract

This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on a fixedtime control strategy was devised to accomplish global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is utilized to obtain the fixed-time stability as well as convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the presented decentralized fixed-time tracking control.

Keywords: Disturbance observer, fixed-time convergence, Lyapunov stability, modular robot manipulators.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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