Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method

Shiming Wang; Yingmin Jia

doi:10.1007/978-981-99-6847-3_28

Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method

Shiming Wang
, Yingmin Jia^*

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper investigates the fixed-time control problem of an n degrees of freedom (n- DOF) robotic manipulators subject to uncertain dynamics and external disturbances. We propose a uniform robust exact differentiator (URED) observer to compensate for the lumped disturbances. Using the observer states, we then design a fixed-time stabilizer for the concerned system by the approach of adding a power integrator (AAPI). Both observer and tracking errors can be proven converge to zero in a fixed-time. Numerical simulations are carried out to illustrate the control algorithm.

Original language	English
Title of host publication	Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I
Editors	Yingmin Jia, Weicun Zhang, Yongling Fu, Jiqiang Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	329-342
Number of pages	14
ISBN (Print)	9789819968466
DOIs	https://doi.org/10.1007/978-981-99-6847-3_28
State	Published - 2023
Event	19th Chinese Intelligent Systems Conference, CISC 2023 - Ningbo, China Duration: 14 Oct 2023 → 15 Oct 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1089 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	19th Chinese Intelligent Systems Conference, CISC 2023
Country/Territory	China
City	Ningbo
Period	14/10/23 → 15/10/23

Keywords

Adding a power integrator method fixed-time control
Robotic manipulator

Access to Document

10.1007/978-981-99-6847-3_28

Cite this

Wang, S., & Jia, Y. (2023). Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method. In Y. Jia, W. Zhang, Y. Fu, & J. Wang (Eds.), Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I (pp. 329-342). (Lecture Notes in Electrical Engineering; Vol. 1089 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6847-3_28

Wang, Shiming ; Jia, Yingmin. / Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method. Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I. editor / Yingmin Jia ; Weicun Zhang ; Yongling Fu ; Jiqiang Wang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 329-342 (Lecture Notes in Electrical Engineering).

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abstract = "This paper investigates the fixed-time control problem of an n degrees of freedom (n- DOF) robotic manipulators subject to uncertain dynamics and external disturbances. We propose a uniform robust exact differentiator (URED) observer to compensate for the lumped disturbances. Using the observer states, we then design a fixed-time stabilizer for the concerned system by the approach of adding a power integrator (AAPI). Both observer and tracking errors can be proven converge to zero in a fixed-time. Numerical simulations are carried out to illustrate the control algorithm.",

keywords = "Adding a power integrator method fixed-time control, Robotic manipulator",

author = "Shiming Wang and Yingmin Jia",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 19th Chinese Intelligent Systems Conference, CISC 2023 ; Conference date: 14-10-2023 Through 15-10-2023",

year = "2023",

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Wang, S & Jia, Y 2023, Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method. in Y Jia, W Zhang, Y Fu & J Wang (eds), Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I. Lecture Notes in Electrical Engineering, vol. 1089 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 329-342, 19th Chinese Intelligent Systems Conference, CISC 2023, Ningbo, China, 14/10/23. https://doi.org/10.1007/978-981-99-6847-3_28

Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method. / Wang, Shiming; Jia, Yingmin.
Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I. ed. / Yingmin Jia; Weicun Zhang; Yongling Fu; Jiqiang Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 329-342 (Lecture Notes in Electrical Engineering; Vol. 1089 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper investigates the fixed-time control problem of an n degrees of freedom (n- DOF) robotic manipulators subject to uncertain dynamics and external disturbances. We propose a uniform robust exact differentiator (URED) observer to compensate for the lumped disturbances. Using the observer states, we then design a fixed-time stabilizer for the concerned system by the approach of adding a power integrator (AAPI). Both observer and tracking errors can be proven converge to zero in a fixed-time. Numerical simulations are carried out to illustrate the control algorithm.

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Wang S, Jia Y. Fixed-Time Tracking Control for Robotic Manipulators Based on Adding a Power Integrator Method. In Jia Y, Zhang W, Fu Y, Wang J, editors, Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I. Springer Science and Business Media Deutschland GmbH. 2023. p. 329-342. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-6847-3_28