Fixed-Time Control of a Robotic Arm Based on Disturbance Observer Compensation

Abstract

Backstepping-based fixed-time tracking control is proposed for a robotic arm system to solve the problem of trajectory tracking control under system uncertainties, which ensures the robotic arm system can realize stable tracking control within a fixed time independent of the initial state of the system. In addition, to address the uncertainties in the robotic arm system, a control strategy based on disturbance observer compensation is designed, which provides feed-forward compensation through the accurate estimation of the system uncertainties and enhances the system’s robustness. Finally, a two-link robotic arm model is used for simulation experiments, and the comparison results show that the control scheme designed in this article can effectively improve the robotic arm’s tracking accuracy and convergence speed.