Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

doi:10.1088/1674-1056/22/10/100702

Abstract This paper proposes an adaptive discrete finite-time synergetic control (ADFTSC) scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter (EKF), the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.

Keywords: adaptive finite-time synergetic control multi-rate sensor fusion mechanical systems

Received: 05 February 2013
Revised: 08 April 2013
Accepted manuscript online:

PACS:	07.07.Tw	(Servo and control equipment; robots)
	07.10.-h	(Mechanical instruments and equipment)
	02.30.Yy	(Control theory)

Fund: Project supported by the National Natural Science Foundation of China (Grant Nos. 61273150 and 60974046) and the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20121101110029).

Corresponding Authors: Xue Guang-Yue, Ren Xue-Mei
E-mail: yyyy0225@126.com;xmren@bit.edu.cn

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Xue Guang-Yue (薛广月), Ren Xue-Mei (任雪梅), Xia Yuan-Qing (夏元清) Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems 2013 Chin. Phys. B 22 100702

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Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

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