Mechanical arm trajectory tracking control method based on preset time disturbance observer and all-drive system method
By using a pre-set time disturbance observer and a high-order all-drive system method, the problems of divergence and controller design complexity caused by unknown disturbances in the robotic arm system are solved. The convergence and steady-state accuracy of the robotic arm trajectory tracking within a preset time are achieved, and the transient performance and robustness of the controller are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
- Filing Date
- 2026-05-18
- Publication Date
- 2026-07-17
AI Technical Summary
Existing preset time control methods suffer from divergence or numerical singularity problems when dealing with robotic arm systems with unknown disturbances. The controller design is complex and it is difficult to achieve stable tracking of preset time under actual physical constraints.
By employing a pre-set time disturbance observer and a high-order all-drive system approach, and through rigorous error analysis and all-drive modeling, a composite control law containing nominal all-drive control and robust compensation terms is designed to ensure that the robotic arm trajectory tracking converges within a preset time and maintains steady-state accuracy.
It achieves strict constraints and steady-state accuracy in robotic arm trajectory tracking within a preset time, improves the transient performance and robustness of the controller, avoids gain overflow issues, and ensures the practicality and stability of the system.
Smart Images
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