Predefined‐Time Disturbance Observer Based Command Filtering Control of Free‐Flying Flexible‐Joint Space Robots.
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| Title: | Predefined‐Time Disturbance Observer Based Command Filtering Control of Free‐Flying Flexible‐Joint Space Robots. |
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| Authors: | Gu, Xiutao1,2 (AUTHOR), Zhou, Yang3 (AUTHOR), Deng, Hua1 (AUTHOR), Guo, Yu4 (AUTHOR), Liu, Liaoxue4 (AUTHOR), Hong, Mengqing5 (AUTHOR) hongmengqing@jspi.edu.cn, Wang, Renqiang1 (AUTHOR) 20120977@jmi.edu.cn |
| Source: | International Journal of Robust & Nonlinear Control. Aug2026, Vol. 36 Issue 12, p6224-6240. 17p. |
| Subjects: | Stability of nonlinear systems, Space robotics, Numerical solutions to differential equations, Lyapunov stability |
| Abstract: | This paper addresses the predefined‐time control issue of free‐flying flexible‐joint space robots (FFSR) under the influence of system uncertainties, external disturbances and input saturation. A novel predefined‐time stability theorem is proposed for a class of nonlinear systems, with convergence time bounded by a user‐specified constant. Building upon this, a predefined‐time disturbance observer is developed to approximate the lumped disturbance, including system parameter perturbations, unmodeled dynamics and unknown disturbances. Additionally, To address the challenges related to "computational explosion" and singularity issue, the theorem is also applied in the design of command filter to estimate the derivative of the virtual control law. Consequently, a predefined‐time command filtering (PTCF) control scheme is further developed, incorporating a novel anti‐saturation auxiliary algorithm and a nonsingular filter error compensation mechanism to compensate for the adverse influence caused by actuator saturation and filter error simultaneously. Lyapunov stability theory and numerical simulations demonstrate that, under the proposed command filtering controller, the FFSR system remains predefined‐time stable, and the system states converge within the user‐specified time. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Robust & Nonlinear Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 195155233 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Predefined‐Time Disturbance Observer Based Command Filtering Control of Free‐Flying Flexible‐Joint Space Robots. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Gu%2C+Xiutao%22">Gu, Xiutao</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Zhou%2C+Yang%22">Zhou, Yang</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Deng%2C+Hua%22">Deng, Hua</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Guo%2C+Yu%22">Guo, Yu</searchLink><relatesTo>4</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Liu%2C+Liaoxue%22">Liu, Liaoxue</searchLink><relatesTo>4</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Hong%2C+Mengqing%22">Hong, Mengqing</searchLink><relatesTo>5</relatesTo> (AUTHOR)<i> hongmengqing@jspi.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Wang%2C+Renqiang%22">Wang, Renqiang</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 20120977@jmi.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Robust+%26+Nonlinear+Control%22">International Journal of Robust & Nonlinear Control</searchLink>. Aug2026, Vol. 36 Issue 12, p6224-6240. 17p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Stability+of+nonlinear+systems%22">Stability of nonlinear systems</searchLink><br /><searchLink fieldCode="DE" term="%22Space+robotics%22">Space robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Numerical+solutions+to+differential+equations%22">Numerical solutions to differential equations</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This paper addresses the predefined‐time control issue of free‐flying flexible‐joint space robots (FFSR) under the influence of system uncertainties, external disturbances and input saturation. A novel predefined‐time stability theorem is proposed for a class of nonlinear systems, with convergence time bounded by a user‐specified constant. Building upon this, a predefined‐time disturbance observer is developed to approximate the lumped disturbance, including system parameter perturbations, unmodeled dynamics and unknown disturbances. Additionally, To address the challenges related to "computational explosion" and singularity issue, the theorem is also applied in the design of command filter to estimate the derivative of the virtual control law. Consequently, a predefined‐time command filtering (PTCF) control scheme is further developed, incorporating a novel anti‐saturation auxiliary algorithm and a nonsingular filter error compensation mechanism to compensate for the adverse influence caused by actuator saturation and filter error simultaneously. Lyapunov stability theory and numerical simulations demonstrate that, under the proposed command filtering controller, the FFSR system remains predefined‐time stable, and the system states converge within the user‐specified time. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Robust & Nonlinear Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/rnc.70569 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 17 StartPage: 6224 Subjects: – SubjectFull: Stability of nonlinear systems Type: general – SubjectFull: Space robotics Type: general – SubjectFull: Numerical solutions to differential equations Type: general – SubjectFull: Lyapunov stability Type: general Titles: – TitleFull: Predefined‐Time Disturbance Observer Based Command Filtering Control of Free‐Flying Flexible‐Joint Space Robots. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Gu, Xiutao – PersonEntity: Name: NameFull: Zhou, Yang – PersonEntity: Name: NameFull: Deng, Hua – PersonEntity: Name: NameFull: Guo, Yu – PersonEntity: Name: NameFull: Liu, Liaoxue – PersonEntity: Name: NameFull: Hong, Mengqing – PersonEntity: Name: NameFull: Wang, Renqiang IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 08 Text: Aug2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 10498923 Numbering: – Type: volume Value: 36 – Type: issue Value: 12 Titles: – TitleFull: International Journal of Robust & Nonlinear Control Type: main |
| ResultId | 1 |
