Finite-Time Disturbance Rejection Control and Its Application to Robot Manipulator

摘要

This paper presents a finite-time disturbance rejection control framework for uncertain nonlinear systems under unknown time-varying disturbances. The proposed method relies on a finite-time state observer and a finite-time controller. The observer is employed to estimate the lumped exogenous and endogenous disturbance and simultaneously deliver the estimate to the corresponding controller for on-line disturbance compensation. The finite-time disturbance rejection controller is completed with the estimates of the states, which are delivered from the same finite-time observer. Experimental results are given to confirm the promising performance of the proposed control scheme.