Robust Output Feedback Tracking Control for Flexible-Joint Robots Based on CTSMC Technique

This brief considers a robust finite-time output feedback control scheme for the tracking problem of flexible-joint (FJ) robotic systems subject to unknown matched and mismatched time-varying disturbances. For this purpose, a novel dynamic terminal sliding mode surface is firstly constructed base on a sliding mode observer. Then, a continuous finite-time control scheme is developed to cope with these disturbances. Besides, the proposed controller guarantees the finite-time convergence of the closed-loop system and requires only the measurements of link positions. Finally, a two-link FJ robot as an example is provided to illustrate the effectiveness of the proposed control scheme.