标题：Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer
作者：Chen, Chao; Zhang, Chengrui; Hu, Tianliang; Ni, Hepeng; Chen, Qizhi
作者机构：[Chen, Chao; Zhang, Chengrui; Hu, Tianliang; Ni, Hepeng; Chen, Qizhi] Shandong Univ, Sch Mech Engn, 27 Shanda South Rd, Jinan 250061, Shandong, People 更多
通讯作者：Zhang, CR;Zhang, Chengrui
通讯作者地址：[Zhang, CR]Shandong Univ, Sch Mech Engn, 27 Shanda South Rd, Jinan 250061, Shandong, Peoples R China.
来源：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
关键词：Finite-time control; finite-time model-assisted extended state observer;; robotic manipulators; system uncertainties; tracking control
摘要：This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time model-assisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov's stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.