A robust finite-time control (FTC) framework using continuous terminal sliding-mode control (SMC) and high-order sliding-mode observer (HOSMO) is discussed to realize the trajectory tracking of flexible-joint robots in this article. Control performances of the robots always suffer from unknown matched and mismatched time-varying disturbances. Traditional SMC exists with a chattering phenomenon and cannot cope with mismatched time-varying disturbances due to its inherent structure property. For this reason, two HOSMOs are devised to estimate the time-varying disturbances on the link and motor side, respectively. Then, by fusing the states and disturbance estimations into a novel terminal sliding-mode surface, a continuous robust FTC scheme is developed. The proposed control strategy can not only handle both matched and mismatched time-varying disturbances but also obtain a finite-time convergence performance. The rigorous finite-time stability analysis of the closed-loop system under the proposed control method is guaranteed. The results are illustrated to verify the effectiveness and robustness of the proposed design approach.

中文翻译：

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FJR的连续终端滑模控制会受到匹配/不匹配干扰的影响。

本文讨论了一种使用连续终端滑模控制（SMC）和高阶滑模观察器（HOSMO）的鲁棒有限时间控制（FTC）框架，以实现柔性关节机器人的轨迹跟踪。机器人的控制性能总是遭受未知的匹配和不匹配的时变干扰。传统的SMC存在颤振现象，并且由于其固有的结构特性而无法应对不匹配的时变扰动。因此，设计了两个HOSMO，分别估计链路和电动机侧的时变干扰。然后，通过将状态和干扰估计融合到一个新颖的终端滑模表面中，开发了一种连续的鲁棒FTC方案。所提出的控制策略不仅可以处理匹配的和不匹配的时变扰动，而且可以获得有限时间的收敛性能。保证了所提出的控制方法对闭环系统的严格时限稳定性分析。结果被说明以验证所提出的设计方法的有效性和鲁棒性。