Observer-based finite time robust stabilization of mechanical arm systems

In this paper, by applying the Hamiltonian function method, we study the robust stabilization problem for a class of two degree of freedom mechanical arm based on finite time observer. Firstly, the two degree of freedom mechanical arm system is transformed into a Port Controlled Hamiltonian (PCH) model, based on which we design its finite time observer system. Secondly, a robust stabilization controller based on finite time observer is designed by using dimension expansion technique and Lyapunov stability theory and some new robust stabilization results based on finite time observer are given. Different from existing stabilization results on the infinite-time observer, under the finite-time observer designed, the closed-loop system can converge quickly and has good robustness when it is disturbed by external environment.