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- W4312611780 abstract "In this paper, a novel fixed-time control scheme is developed to obtain desired trajectory tracking control performances for the pneumatic multi-degrees of freedom (DOF) manipulator system driven by pneumatic muscles (PMs). A fixed-time disturbance observer (FTDO) is proposed to estimate unknown disturbances in the pneumatic multi-DOF manipulator system, and estimation errors converge into the bounded region effectively in fixed-time. Moreover, a fixed-time dynamic surface controller (FTDSC) is designed to improve trajectory tracking control performances, and the pneumatic multi-DOF manipulator system is proven to be uniformly ultimately fixed-time bounded stable by Lyapunov analysis. Finally, comparative simulations are presented to demonstrate the effectiveness of the proposed control approach." @default.
- W4312611780 created "2023-01-05" @default.
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- W4312611780 date "2022-07-25" @default.
- W4312611780 modified "2023-10-16" @default.
- W4312611780 title "Fixed-time Trajectory Tracking Control for Pneumatic Multi-DOF Manipulator System with Unknown Disturbances" @default.
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- W4312611780 doi "https://doi.org/10.23919/ccc55666.2022.9901716" @default.
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