Finite-time disturbance observer-based trajectory tracking control for flexible-joint robots

This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types unpredictable disturbances. Specifically, based on flatness dynamic model, disturbance observer (FTDO) only link-side position measurements is firstly developed to estimate lumped unknown time-varying and unmeasurable states. Then, through information states disturbances provided by FTDO, output feedback controller constructed, which can accomplish tasks suppression trajectory in finite time. Moreover, rigorous stability analysis closed-loop system bounded (FTB) function conducted. Finally, simulation results validate feasibility superiority proposed against other existing results.