Finite-time trajectory tracking control for a two degrees of freedom pneumatic dexterous finger

摘要

In this paper, a finite-time sliding mode control scheme is proposed to realize the trajectory tracking control for a two degrees of freedom (DOFs) pneumatic dexterous finger. A nonlinear extended state observer (NESO) is designed to estimate model uncertainties and external disturbances. A nonsingular finite-time sliding mode controller (NFTSMC) is proposed to achieve fast tracking. Furthermore, stability analyses are shown on both the NESO and the NFTSMC based on Lyapunov methods. Finally, a series of trajectory tracking experiments are carried on a two DOFs pneumatic dexterous finger platform to demonstrate the effectiveness of the proposed finite-time sliding mode control scheme.