控制理论(社会学)
趋同(经济学)
扰动(地质)
职位(财务)
边界(拓扑)
有界函数
控制器(灌溉)
计算机科学
振荡(细胞信号)
方案(数学)
数学
控制(管理)
数学分析
生物
经济
人工智能
古生物学
农学
遗传学
经济增长
财务
作者
Zhijia Zhao,Zhijie Liu
出处
期刊:IEEE/CAA Journal of Automatica Sinica
[Institute of Electrical and Electronics Engineers]
日期:2021-01-01
卷期号:8 (1): 157-168
被引量:81
标识
DOI:10.1109/jas.2020.1003378
摘要
This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances. To suppress the shear deformation and elastic oscillation, position the manipulator in a desired angle, and ensure the finitetime convergence of disturbances, we develop three disturbance observers (DOs) and boundary controllers. Under the derived DOs-based control schemes, the controlled system is guaranteed to be uniformly bounded stable and disturbance estimation errors converge to zero in a finite time. In the end, numerical simulations are established by finite difference methods to demonstrate the effectiveness of the devised scheme by selecting appropriate parameters.
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