Fast fixed-time extended state observer based command filtering backstepping control of free-flying flexible-joint space robots

DOI10.1016/J.JFRANKLIN.2024.107183MaRDI QIDQ6669326zbMATH OpenFDO

Authors Mengqing Hong, Xiutao Gu, Ling-Ling Xia, Yu Guo

Publication date 22 January 2025

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.JFRANKLIN.2024.107183

zbMATH Keywords

backstepping techniquecommand filteringfast fixed-time ESOfree-flying flexible-joint space robotinput saturation

Mathematics Subject Classification ID

Observers (93B53) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Finite-time stability (93D40)

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Cites work

• A Lyapunov-Like Characterization of Predefined-Time Stability
• Adaptive Finite-Time Tracking Control of Nonlinear Systems With Dynamics Uncertainties
• Adaptive hierarchical sliding mode controller for tower cranes based on finite time disturbance observer
• Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints
• Command Filtered Backstepping
• Continuous output feedback sliding mode control for underactuated flexible-joint robot
• Finite time extended state observer based nonsingular fast terminal sliding mode control of flexible-joint manipulators with unknown disturbance
• Fixed time robust control for tower cranes with unmatched disturbances and input saturation
• Geometric homogeneity with applications to finite-time stability
• Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems
• On homogeneity and its application in sliding mode control
• On the convergence of an extended state observer for nonlinear systems with uncertainty
• Prescribed performance tracking control of a free-flying flexible-joint space robot with disturbances under input saturation
• Robust dynamic positioning of ships with disturbances under input saturation

Cited in

(5)

• Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints
• Extended-state-observer-based dynamic surface control of flexible-joint robot systems with input saturation
• Adaptive nonlinear disturbance observer based integral terminal sliding mode tracking control of free-flying space robot in 3D space
• Nonlinear filtered prescribed-time control of uncertain nonlinear systems with mismatched uncertainties
• Predefined-time disturbance observer based command filtering control of free-flying flexible-joint space robots

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