ABSTRACT
The predefined-time nonsingular fast terminal sliding mode (NFTSM) control problem is studied based on a prescribed-time disturbance observer (PTDO) for a robotic manipulator system with Denial-of-Service (DoS) attack. Firstly, a new predefined-time NFTSM control strategy is constructed to enable fast-tracking performance for the uncertain manipulator with DoS attack. Then, a well-designed PTDO is developed to deal with the unknown lumped uncertainty, and the observation error variable is proved to converge within a prescribed time. Next, the entire prescribed-time disturbance observer-based NFTSM controller is devised, and the error system of the uncertain manipulator is proved to be tunable predefined-time stability (PdTS) without DoS attack. Meanwhile, the DoS attack issue is addressed, and the quantitative relationship between the PdTS and the attack parameters is formalized utilizing a switched system framework. Finally, the developed prescribed-time disturbance observer-based NFTSM control method is demonstrated via a 2-link robotic manipulator, which provides a higher quality control performance compared with existing control methods.
International Journal of Robust and Nonlinear Control, EarlyView. Read More
