Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances
This paper proposes a novel control algorithm for robotic manipulators with unknown nonlinearities and external disturbances. Explicit consideration is given to the physical constraints on joint positions and velocities, ensuring tracking performance without violating prescribed constraints. Finite-...
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| Format: | Article |
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MDPI AG
2025-07-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/13/15/2336 |
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| author | Jiacheng Lou Xuecheng Wen Sergei Shavetov |
| author_facet | Jiacheng Lou Xuecheng Wen Sergei Shavetov |
| author_sort | Jiacheng Lou |
| collection | DOAJ |
| description | This paper proposes a novel control algorithm for robotic manipulators with unknown nonlinearities and external disturbances. Explicit consideration is given to the physical constraints on joint positions and velocities, ensuring tracking performance without violating prescribed constraints. Finite-time convergence entails significant overshoot magnitudes. A class of nonlinear transformations is employed to ensure state constraint satisfaction while achieving prescribed tracking performance. The command filtered backstepping is employed to circumvent issues of “explosion of terms” in virtual controls. A disturbance observer (DOB), constructed via radial basis function neural networks (RBFNNs), effectively compensates for nonlinearities and time-dependent disturbances. The proposed control law guarantees finite-time stability while preventing position/velocity violations during transients. Simulation results validate the effectiveness of the proposed approach. |
| format | Article |
| id | doaj-art-d3c6d159ece348d3a9ab5185e165a283 |
| institution | DOAJ |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-d3c6d159ece348d3a9ab5185e165a2832025-08-20T03:02:58ZengMDPI AGMathematics2227-73902025-07-011315233610.3390/math13152336Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under DisturbancesJiacheng Lou0Xuecheng Wen1Sergei Shavetov2Faculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy Ave., 197101 St. Petersburg, RussiaFaculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy Ave., 197101 St. Petersburg, RussiaFaculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy Ave., 197101 St. Petersburg, RussiaThis paper proposes a novel control algorithm for robotic manipulators with unknown nonlinearities and external disturbances. Explicit consideration is given to the physical constraints on joint positions and velocities, ensuring tracking performance without violating prescribed constraints. Finite-time convergence entails significant overshoot magnitudes. A class of nonlinear transformations is employed to ensure state constraint satisfaction while achieving prescribed tracking performance. The command filtered backstepping is employed to circumvent issues of “explosion of terms” in virtual controls. A disturbance observer (DOB), constructed via radial basis function neural networks (RBFNNs), effectively compensates for nonlinearities and time-dependent disturbances. The proposed control law guarantees finite-time stability while preventing position/velocity violations during transients. Simulation results validate the effectiveness of the proposed approach.https://www.mdpi.com/2227-7390/13/15/2336coordinate transformationfinite-time stabilitydisturbance observernonlinear systemsnonlinear controlmanipulators |
| spellingShingle | Jiacheng Lou Xuecheng Wen Sergei Shavetov Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances Mathematics coordinate transformation finite-time stability disturbance observer nonlinear systems nonlinear control manipulators |
| title | Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances |
| title_full | Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances |
| title_fullStr | Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances |
| title_full_unstemmed | Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances |
| title_short | Finite-Time Tracking Control in Robotic Arm with Physical Constraints Under Disturbances |
| title_sort | finite time tracking control in robotic arm with physical constraints under disturbances |
| topic | coordinate transformation finite-time stability disturbance observer nonlinear systems nonlinear control manipulators |
| url | https://www.mdpi.com/2227-7390/13/15/2336 |
| work_keys_str_mv | AT jiachenglou finitetimetrackingcontrolinroboticarmwithphysicalconstraintsunderdisturbances AT xuechengwen finitetimetrackingcontrolinroboticarmwithphysicalconstraintsunderdisturbances AT sergeishavetov finitetimetrackingcontrolinroboticarmwithphysicalconstraintsunderdisturbances |