Disturbance observer-based L(1) robust tracking control for single-link flexible-joint manipulator systems

Abstract

In this study, a novel disturbance observer-based (DOB) [inline-formula] robust anti-disturbance tracking control problem is discussed for a kind of single-link flexible-joint manipulator with separate types of disturbances. On the one hand, a disturbance observer is imported to estimate the modelable disturbances. On the other hand, the introduction of [inline-formula] performance index optimises the impact of unmodelled disturbances on the system. A DOB proportional-integral control input is proposed such that the stability of single-link flexible-joint manipulator can be ensured. Furthermore, the satisfactory disturbance rejection and attenuation performance with [inline-formula] index can be obtained simultaneously. Finally, the simulation results verify this feasibility and effectiveness of the proposed control method.

Keywords

• observers
• control system synthesis
• adaptive control
• flexible manipulators
• robust control
• tracking
• pi control
• position control
• control method
• single-link flexible-joint manipulator systems
• modelable disturbances
• performance index
• unmodelled disturbances
• satisfactory disturbance rejection
• attenuation performance
• dob proportional-integral control input
• disturbance observer-based robust antidisturbance tracking control problem