IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/9316562.html
   My bibliography  Save this article

Finite-Time Output Feedback Control for a Rigid Hydraulic Manipulator System

Author

Listed:
  • Yong-Sheng Hao
  • Zhi-Gang Su
  • Xiangyu Wang

Abstract

The position tracking control problem of a hydraulic manipulator system is investigated. By utilizing homogeneity theory, a finite-time output feedback controller is designed. Firstly, a finite-time state feedback controller is developed based on homogeneity theory. Secondly, a nonlinear state observer is designed to estimate the manipulator’s velocity. A rigorous analysis process is presented to demonstrate the observer’s finite-time stability. Finally, the corresponding output feedback tracking controller is derived, which stabilizes the tracking error system in finite time. Simulations demonstrate the effectiveness of the designed finite-time output feedback controller.

Suggested Citation

  • Yong-Sheng Hao & Zhi-Gang Su & Xiangyu Wang, 2018. "Finite-Time Output Feedback Control for a Rigid Hydraulic Manipulator System," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-9, July.
    • Handle: RePEc:hin:jnlmpe:9316562
    DOI: 10.1155/2018/9316562
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2018/9316562.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2018/9316562.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2018/9316562?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:9316562. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.