Finite-time robust stabilization of manipulator system with uncertainty via observer method

Abstract

Via Hamiltonian function method, the article studies the observer-based finite-time robust stabilization problem of a class of two joint uncertain manipulator system under external disturbance. First, we present an equivalent Hamiltonian model for the two-degree-of-freedom manipulator system and design its finite-time observer and develop a finite-time robust stabilization control result by using Lyapunov stability theory and dimension expansion technique for the manipulator system with external disturbance. On this basis, we further study the robust control problem of the mechanical system containing uncertainty and external disturbance simultaneously and develop several corresponding robust control results for the system. Finally, the control effect is proved by an example simulation. Compared with the existing observer-based infinite time stability control results, an observer and a finite time controller are designed in this article. The system has good robustness to external disturbances and can converge quickly.